Sensing module, manipulator, mechanical arm and robot

Abstract

The utility model provides an induction module, a manipulator, a mechanical arm and a robot. The sensing module comprises a contact sensing layer, a force transmission structure, a stress sensor, a support and a main control part. The stress sensor and the main control part are assembled on the support, the contact sensing layer is arranged on the force transmission structure, and the force transmission structure abuts against the stress sensor when the contact sensing layer bears external force so as to transmit the external force to the stress sensor. The main control piece is in conductive connection with the contact induction layer and the stress sensor so as to form stress data according to induction information obtained by the contact induction layer and the stress sensor. According to the structure arrangement, the main control piece can analyze the stress condition of the induction module by comprehensively contacting the force application information obtained by the induction layer and the external force information received by the stress sensor, and the induction sensitivity, the induction range and the use reliability of the induction module and the robot using the induction module are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to a sensing module, a manipulator, a robotic arm, and a robot. Background Art

[0002] The tactile perception function of a robot refers to the ability of the robot's fingers, head and other parts of the body to perceive and understand tactile information of the surrounding environment. Tactile perception can be related to the robot's task execution and interaction with humans, and can also help improve the application efficiency and safety of robots in industries such as industry, services, and medical care.

[0003] However, due to the limitations of tactile perception technology and methods, the sensing modules in related technologies cannot meet expectations in terms of sensing sensitivity, sensing range and reliability. Utility Model Content

[0004] The present disclosure provides a sensing module, a manipulator, a robotic arm and a robot to solve related technical problems.

[0005] A first aspect of the present disclosure provides a sensing module, comprising: a contact sensing layer, a force transmission structure, a force sensor, a bracket, and a main control;

[0006] The force sensor and the main control are assembled on the bracket;

[0007] The contact sensing layer is provided on the force transmission structure; when the contact sensing layer is subjected to an external force, the force transmission structure contacts the force sensor to transmit the external force to the force sensor;

[0008] The main control is conductively connected to the contact sensing layer and the force sensor respectively, so as to form force data according to sensing information obtained by the contact sensing layer and the force sensor.

[0009] Optionally, the force sensor includes a frame structure and a strain component arranged on the frame structure.

[0010] Optionally, the frame structure includes a stacked support structure, a deformation plate and a force transmission plate; the deformation plate includes a first section, a second section and a third section, and the second section and the third section are located on opposite sides of the first section.

[0011] Optionally, the force transmission plate is connected to the second section and the third section respectively to form a reserved space with the deformation plate; the support structure is arranged on the side of the first section facing away from the reserved space; the strain component is arranged on the deformation plate and is located in the reserved space.

[0012] Optionally, the bracket includes a first side surface and a second side surface, and the first side surface and the second side surface are respectively arranged to be inclined relative to the thickness direction of the sensing module; the first side surface and the second side surface are respectively provided with the force sensor.

[0013] Optionally, the deformable plate includes a first portion and a second portion bent relative to the first portion;

[0014] And / or, the force transmission plate includes a third portion and a fourth portion bent relative to the third portion.

[0015] Optionally, the force transmission structure includes a main body and at least one side portion bent relative to the main body, and the contact sensing layer covers outer side surfaces of the main body and the side portion.

[0016] Optionally, the main body and the side portions form a receiving space, and the force sensor is accommodated in the receiving space.

[0017] Optionally, the contact sensing layer includes a base layer and an electrode layer disposed on the base layer; the electrode layer includes a plurality of sensing areas.

[0018] Optionally, the main control is fixedly assembled on a side of the bracket facing away from the force sensor.

[0019] According to a second aspect of the present disclosure, a robot arm is provided, comprising: any one of the sensing modules described in the first aspect.

[0020] According to a third aspect of the present disclosure, a robotic arm is provided, comprising: any one of the sensing modules described in the first aspect.

[0021] According to a fourth aspect of the present disclosure, a robot is provided, comprising: any one of the sensing modules described in the first aspect.

[0022] The technical solution provided by the present disclosure can achieve at least the following beneficial effects:

[0023] The sensing module disclosed herein comprises a force transmission structure, a contact sensing layer, and a force sensor. The contact sensing layer is disposed within the force transmission structure, and when the contact sensing layer is subjected to an external force, the force transmission structure abuts against the force sensor to transmit the external force to the force sensor. This structural arrangement enables the main control to analyze the force conditions of the sensing module by combining the force information obtained by the contact sensing layer with the external force information received by the force sensor, thereby improving the sensitivity, sensing range, and reliability of the sensing module and the robot using it.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0026] Figure 1 This is a schematic diagram of a three-dimensional exploded structure of a sensing module in an exemplary embodiment of the present disclosure;

[0027] Figure 2 This is a schematic diagram of the assembly structure of a sensing module in an exemplary embodiment of the present disclosure;

[0028] Figure 3 is a schematic diagram of a three-dimensional structure of a force sensor in an exemplary embodiment of the present disclosure;

[0029] Figure 4 is a schematic diagram of the three-dimensional structure of a sensing module in another exemplary embodiment of the present disclosure;

[0030] Figure 5 It is a schematic cross-sectional structural diagram of a sensing module in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with this specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of this specification, as detailed in the appended claims.

[0032] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. Unless otherwise defined, technical or scientific terms used in this specification should have the same ordinary meaning as those understood by persons of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and similar terms used in this specification and the claims do not denote any order, quantity, or importance, but are simply used to distinguish one component from another. Similarly, terms such as "a" or "an" do not denote a limitation of quantity, but rather indicate the presence of one. "Multiple" or "several" means two or more. Unless otherwise indicated, terms such as "front," "rear," "lower," and / or "upper" are used for convenience only and are not intended to limit the scope of the disclosure to a specific location or spatial orientation. Terms such as "include" or "comprising" mean that the elements or objects listed before "include" or "comprising" include the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. Terms such as "connected" or "connected" are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect.

[0033] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. As used in this specification and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0034] A robot's tactile perception function refers to the ability of its fingers, head, and other body parts to sense and understand tactile information about its surroundings. Tactile perception is relevant to the robot's task execution and interaction with humans, and can also help improve the efficiency and safety of robots in industrial, service, and medical applications. However, due to limitations in tactile perception technology and methods, the sensor modules used in related technologies have failed to meet expectations in terms of sensitivity, range, and reliability.

[0035] The present disclosure provides a sensing module. Figure 1 This is a schematic diagram of a three-dimensional exploded structure of a sensing module in an exemplary embodiment of the present disclosure. Figure 2 This is a schematic diagram of the assembly structure of a sensing module in an exemplary embodiment of the present disclosure. Figure 1 、 Figure 2As shown, the sensing module 1 includes a contact sensing layer 11, a force transmission structure 12, a force sensor 14, a bracket 13, and a main control 15. The force sensor 14 and main control 15 are assembled to the bracket 13. The contact sensing layer 11 is mounted on the force transmission structure 12. When the contact sensing layer 11 is subjected to an external force, the force transmission structure 12 abuts against the force sensor 14 to transmit the external force to the force sensor 14. The main control 15 is electrically connected to the contact sensing layer 11 and the force sensor 14, respectively, to generate force data based on the sensing information obtained by the contact sensing layer 11 and the force sensor 14.

[0036] Since the sensing module 1 includes a force transmission structure 12, a contact sensing layer 11, and a force sensor 14, the contact sensing layer 11 is disposed on the force transmission structure 12, and the force transmission structure 12 is capable of contacting the force sensor 14 when the contact sensing layer 11 is subjected to an external force, thereby transmitting the external force to the force sensor 14. This structural arrangement enables the main control 15 to analyze the force conditions of the sensing module 1 by combining the force information obtained by the contact sensing layer 11 and the external force information received by the force sensor 14. This avoids the problem of the contact sensing layer 11 being limited in its sensing range and unable to accurately sense the force conditions, thereby improving the sensing sensitivity, sensing range, and reliability of the sensing module 1 and the robot using the sensing module 1.

[0037] The touch sensing layer 11 can be used solely to identify the sensing position, while the force applied to the sensing module 1 is detected by the force sensor 14. This helps improve the long-term consistency, sensitivity, and range of the sensing module 1. Furthermore, the touch sensing layer 11 can also be used to sense the contour of the force-applying object and assist in sensing the magnitude of the external force.

[0038] In some embodiments, the contact sensing layer 11 may include a base layer and an electrode layer disposed thereon. The electrode layer may include multiple sensing regions, which can be used to determine the force location and the contact surface contour of the force-applying object through the multiple sensing regions at different locations. For example, the electrode layer may form a 7x15 array of sensing regions, capable of independently identifying the forces applied at 105 sensing locations. By scanning these 105 sensing points, the contour of the force-applying object's contact surface can be identified. After the contact sensing layer 11 is conductively connected to the main control 15, it can transmit information about the force location, the forces applied at different locations, and the contact surface contour to the main control 15 for information processing and integration.

[0039] The touch sensing layer 11 can be a membrane structure formed by a base layer, an electrode layer, and a pressure-sensitive layer. When a force is applied to the touch sensing layer 11, the pressure signal can be converted into an electrical signal for analysis and processing by the main control 15. This lightweight and thin structure achieves a miniaturized and integrated sensing module structure. The touch sensing layer 11 can be flexible to facilitate assembly and adaptation to different parts of the robot.

[0040] In some embodiments, as Figure 3 As shown, the force sensor 14 may include a frame structure 141 and a strain component 142 arranged on the frame structure 141. When the contact sensing layer 11 is subjected to external force, the force transmission structure 12 abuts against the frame structure 141 of the force sensor 14, and the strain component 142 senses the external force through the deformation of the frame.

[0041] The frame structure 141 may include a stacked support structure 1413, a deformable plate 1412, and a force transmission plate 1411. The deformable plate 1412 includes a first section 1412a, a second section 1412b, and a third section 1412c, with the second section 1412b and the third section 1412c located on opposite sides of the first section 1412a. The stacked support structure 1413, deformable plate 1412, and force transmission plate 1411 are simple and easy to manufacture, and facilitate the sensing of the deformation of the frame structure 141 by the strain component 142 after it is subjected to force.

[0042] When the contact sensing layer 11 is subjected to external force, the force transmission structure 12 abuts against one side of the force transmission plate 1411. The other side of the force transmission plate 1411 is connected to the second section 1412b and the third section 1412c, respectively, to form a reserved space 1415 with the deformation plate 1412. The support structure 1413 is arranged on the side of the first section 1412a facing away from the reserved space 1415. The strain component 142 is arranged on the deformation plate 1412 and located in the reserved space 1415. When the force transmission plate 1411 applies pressure to the second section 1412b and the third section 1412c, the main control 15 reads the change in the channel strain resistance formed by the two strain components 142 through the ADC, thereby obtaining the magnitude and location of the pressure. The above-mentioned stacked frame structure 141 and reserved space 1415 arrangement improve the sensing range and sensing accuracy of the force sensor 14.

[0043] In some embodiments, the deformable plate 1412 includes a first portion 1412d and a second portion 1412e that is bent relative to the first portion 1412d. The relative bending between the first portion 1412d and the second portion 1412e allows the deformable plate 1412 to adapt to the structure of the bracket 13 and enhances the deformation and deformation sensing effects of the force sensor 14.

[0044] In some embodiments, the force transmission plate 1411 includes a third portion 1411a and a fourth portion 1411b that is bent relative to the third portion 1411a. The relative bending between the third portion 1411a and the fourth portion 1411b allows the force transmission plate 1411 to adapt to the structure of the deformation plate 1412 and the bracket 13. This bending can also enhance the deformation effect and deformation sensing effect of the force sensor 14.

[0045] The bending angles and positions of the deformable plate 1412 and the force transmission plate 1411 may be the same to adapt the overall structure of the force sensor 14. The deformable plate 1412 and the force transmission plate 1411 may include two, three, or more relatively bent portions, which is not limited in this disclosure.

[0046] In some embodiments, the deformation plate 1412 and the force transmission plate 1411 may be a bar-shaped structure, which helps to optimize the size of the force sensor 14 and reduce the space occupied by the sensing module 1 while realizing the pressure magnitude and pressure position sensing functions. In other embodiments, the deformation plate 1412 and the force transmission plate 1411 may also be square, triangular, polygonal or irregular in shape, and the present disclosure is not limited to this. When the shapes of the deformation plate 1412 and the force transmission plate 1411 change, the contact position between the force transmission structure 12 and the force transmission plate 1411 and the setting position of the strain component 142 can be adjusted accordingly to realize the monitoring of the pressure magnitude and orientation according to the shape of the deformation plate 1412 and the force transmission plate 1411.

[0047] In some embodiments, Figure 3 The dotted arrow in the figure can represent the thickness direction of the force sensor 14, and the thickness direction of the force sensor 14 can refer to the direction perpendicular to the deformation plate. In the thickness direction of the force sensor 14, a first gap is provided between the force transmission plate 1411 and the projection of the support structure 1413 on the deformation plate 1412, so that a gap is formed between the position where the force acts on the deformation plate 1412 and the support position of the support structure 1413 on the deformation plate 1412, so as to facilitate the deformation of the deformation plate 1412 and the strain component 142, thereby reducing the difficulty of calculating the corresponding relationship between the deformation and the force.

[0048] It should be noted that the materials of the force transmission structure 12, force transmission plate 1411, deformation plate 1412, support structure 1413, and bottom plate 1414 can be steel, plastic, or the like, with strength and deformation properties that meet the requirements, and this disclosure is not limited thereto. The force transmission structure 12 can be a force equalizing plate to transmit the external force acting on the contact sensing layer 11 to the force sensor 14.

[0049] In other embodiments, the frame of the force sensor 14 may have other structures, which are not limited in the present disclosure, as long as the deformation of the frame enables the strain component 142 provided on the frame to sense external force.

[0050] It should be noted that the strain component 142 may be a component that can make the channel strain resistance change with deformation, and the present disclosure does not limit the specific structure of the strain component 142.

[0051] In the above embodiment, the strain component 142 may include two sensing channels, and a force sensor 14 may include two strain components 142. The strain components 142 arranged in pairs can collect pressure information at at least four points, thereby accurately determining the magnitude and direction of the pressure.

[0052] The sensing module 1 may include two force sensors 14 , and the pressure magnitude and orientation on the sensing module 1 may be monitored through changes in the four-channel strain gauge resistance of the two force sensors 14 .

[0053] Alternatively, the force sensor 14 may have two, three or more strain components 142 , and the number of strain components 142 of the force sensor 14 may be selected based on the specific pressure monitoring scenario and the shape and properties of the deformable plate 1412 of the force sensor 14 .

[0054] In some embodiments, the force sensor 14 may further include a base plate 1414, disposed on the side of the support structure 1413 facing away from the deformable plate 1412. The base plate 1414 includes a first region and a second region. The first region is connected to the support structure 1413, and the second region is separated from the deformable plate 1412 by a third gap 1416 in the thickness direction of the force sensor 14. When the pressing force exceeds a certain level, the deformable plate 1412 contacts the base plate 1414, which supports the deformable plate 1412 and prevents further deformation, thereby preventing damage caused by excessive deformation. The thickness of the support structure 1413 in the thickness direction of the force sensor 14 determines the maximum degree of deformation of the deformable plate 1412. The base plate 1414 enhances the independence of the strip sensor manufacturing process, facilitating production and assembly.

[0055] In other embodiments, the force sensor 14 can omit the base plate 1414, and the support structure 1413 can be directly fixed to the bracket 13 by screws, welding, etc., to reduce the thickness and space occupied by the sensing module 1. An assembly gap is formed between the bracket 13 and the deformation plate 1412. The bracket 13 can support the force sensor 14 when the force sensor 14 reaches the pressure sensing limit, preventing excessive deformation of the force sensor 14 and providing overload protection.

[0056] It should be noted that the force sensor 14 can be fixedly connected to the bracket 13 by welding, screws, or double-sided tape. The force sensor 14 can be in contact with the force transmission structure 12, or can be fixedly connected to the bracket 13 by welding, screws, or double-sided tape. The contact sensing layer 11 can be attached to the surface of the force transmission structure 12.

[0057] In some embodiments, as Figure 1 、 Figure 2 As shown, Figure 1 、 Figure 2 The dotted arrow in the figure can represent the thickness direction of the sensing module 1. The bracket 13 can include a first side surface 131 and a second side surface 132, and the first side surface 131 and the second side surface 132 are respectively arranged to be inclined relative to the thickness direction of the sensing module 1, and the first side surface 131 and the second side surface 132 are respectively provided with a force sensor 14. By arranging the force sensor 14 on the first side surface 131 and the second side surface 132, the force sensor 14 can obtain a sensing surface inclined relative to the thickness direction of the sensing module 1, which can not only adapt to the overall structural shape of the sensing module 1, but also when the force sensor 14 is subjected to external force, the sensing surface inclined relative to the thickness direction of the sensing module 1 can improve the sensing range, sensing direction and sensing accuracy of the external force. Among them, the sensing surface can refer to the side of the force sensor 14 that abuts against the force transmission structure 12 when it is under force.

[0058] In some embodiments, the force transmission structure 12 may include a main body 121 and at least one side portion 122 bent relative to the main body 121, and the contact sensing layer 11 covers the outer side surfaces of the main body 121 and the side portion 122. The contact sensing layer 11 covers the outer side surfaces of the main body 121 and the side portion 122 to achieve sensing of forces acting in multiple directions. The outer surface of the side portion 122 may be perpendicular to the outer surface of the main body 121, or the outer surface of the side portion 122 may be inclined relative to the outer surface of the main body 121. The thickness direction of the sensing module 1 may refer to the direction perpendicular to the outer surface of the main body 121 of the force transmission structure 12.

[0059] In the above embodiment, the main body 121 and the side portion 122 enclose a receiving space 123 , and the force sensor 14 is received in the receiving space 123 to reduce the space occupied by the force sensor 14 in the sensing module 1 .

[0060] In some embodiments, the main control 15 can be fixedly assembled on the side of the bracket 13 facing away from the force sensor 14 to avoid interfering with the structure and function of the force sensor 14 and the contact sensing layer 11. The contact sensing layer 11 and the force sensor 14 can be electrically connected to the main control 15 via a flexible circuit board or wires. For example, one end of the contact sensing layer 11 and the force sensor 14 is electrically connected to the main control 15 via wires.

[0061] In some embodiments, as Figure 4 、 Figure 5 As shown, the sensing module 1 may further include a jacket 16, which covers the exterior of the assembly formed by the contact sensing layer 11, force transmission structure 12, force sensor 14, and bracket 13. Jacket 16 may be made of silicone material and serves to define the appearance of the sensing module 1 while also protecting the contact sensing layer 11. Textures 161 may be designed at locations corresponding to the contact sensing layer 11 to increase friction with external objects.

[0062] The present disclosure further provides a robot arm, which includes the above-mentioned sensing module 1.

[0063] It should be noted that the above-mentioned manipulator can be applied to fields such as industrial manufacturing, medical services, logistics loading and unloading, and automated production, and the present disclosure does not limit this. Since the sensing module 1 includes a force transmission structure 12, a contact sensing layer 11, and a force sensor 14, the contact sensing layer 11 is arranged on the force transmission structure 12, and the force transmission structure 12 can abut against the force sensor 14 when the contact sensing layer 11 is subjected to an external force to transmit the external force to the force sensor 14. The above-mentioned structural setting enables the main control 15 to analyze the force condition of the sensing module 1 by comprehensively analyzing the force information obtained by the contact sensing layer 11 and the external force information received by the force sensor 14, thereby improving the sensing sensitivity, sensing range, and reliability of the sensing module 1 and the manipulator using the above-mentioned sensing module 1.

[0064] The present disclosure further provides a robotic arm, which includes the above-mentioned sensing module 1.

[0065] It should be noted that the above-mentioned robotic arm can be applied to fields such as industrial manufacturing, medical services, logistics loading and unloading, and automated production, and the present disclosure does not limit this. Since the sensing module 1 includes a force transmission structure 12, a contact sensing layer 11, and a force sensor 14, the contact sensing layer 11 is arranged on the force transmission structure 12, and the force transmission structure 12 can abut against the force sensor 14 when the contact sensing layer 11 is subjected to an external force to transmit the external force to the force sensor 14. The above-mentioned structural setting enables the main control 15 to analyze the force condition of the sensing module 1 by comprehensively analyzing the force information obtained by the contact sensing layer 11 and the external force information received by the force sensor 14, thereby improving the sensing sensitivity, sensing range, and reliability of the sensing module 1 and the robotic arm using the above-mentioned sensing module 1.

[0066] The present disclosure further provides a robot, which includes the above-mentioned sensing module 1.

[0067] Since the sensing module 1 includes a force transmission structure 12, a contact sensing layer 11, and a force sensor 14, and the contact sensing layer 11 is disposed on the force transmission structure 12, and the force transmission structure 12 can abut against the force sensor 14 when the contact sensing layer 11 is subjected to an external force, thereby transmitting the external force to the force sensor 14, this structural arrangement enables the main control 15 to analyze the force conditions of the sensing module 1 by combining the force information obtained by the contact sensing layer 11 and the external force information received by the force sensor 14, thereby improving the sensing sensitivity, sensing range, and reliability of the sensing module 1 and the robot using the sensing module 1.

[0068] The robot may be a humanoid robot or a robot of other shapes. Taking a humanoid robot as an example, the sensing module 1 may be applied to the fingers, face or other parts of the body of the humanoid robot, and the present disclosure is not limited thereto.

[0069] For example, when the sensing module 1 is applied to the fingertips of a humanoid robot, when the fingertips touch an object, the contact sensing layer 11 can obtain the outline of the object and the force position on the surface of the fingertips. The external force of the object acting on the fingertip contact sensing layer 11 is transmitted to the force sensor 14 through the force transmission structure 12. The main control 15 can determine the magnitude of the external force at the force position on the fingertip surface based on the sensing information of the force sensor 14 and the contact sensing layer 11, and thus form force data for the entire fingertip.

[0070] The above description is merely a preferred embodiment of the present disclosure and does not constitute any form of limitation to the present disclosure. Although the present disclosure has been disclosed as a preferred embodiment as above, it is not intended to limit the present disclosure. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of the technical content disclosed above without departing from the scope of the technical solution of the present disclosure. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present disclosure without departing from the content of the technical solution of the present disclosure are still within the scope of the technical solution of the present disclosure.

Claims

1. A sensing module, characterized in that: include: Contact sensing layer, force transmission structure, force sensor, bracket and main control; The force sensor and the main control are assembled on the bracket; The contact sensing layer is arranged on the force transmission structure; when the contact sensing layer is subjected to an external force, the force transmission structure abuts against the force sensor to transmit the external force to the force sensor; The main control is conductively connected to the contact sensing layer and the force sensor respectively, so as to form force data according to sensing information obtained by the contact sensing layer and the force sensor.

2. The sensing module according to claim 1, characterized in that: The force sensor comprises a frame structure and a strain component arranged on the frame structure.

3. The sensing module according to claim 2, characterized in that: The frame structure includes a stacked support structure, a deformation plate and a force transmission plate; the deformation plate includes a first section, a second section and a third section, and the second section and the third section are located on opposite sides of the first section.

4. The sensing module according to claim 3, characterized in that: The force transmission plate is connected to the second section and the third section respectively to enclose a reserved space with the deformation plate; the support structure is arranged on the side of the first section facing away from the reserved space; the strain component is arranged on the deformation plate and is located in the reserved space.

5. The sensing module according to claim 4, characterized in that: The bracket includes a first side surface and a second side surface, and the first side surface and the second side surface are respectively arranged to be inclined relative to the thickness direction of the sensing module; the first side surface and the second side surface are respectively provided with the force sensors.

6. The sensing module according to claim 4, characterized in that: The deformable plate comprises a first portion and a second portion bent relative to the first portion; And / or, the force transmission plate includes a third portion and a fourth portion bent relative to the third portion.

7. The sensing module according to claim 1, characterized in that: The force transmission structure includes a main body and at least one side portion bent relative to the main body, and the contact sensing layer covers the outer side surfaces of the main body and the side portion.

8. The sensing module according to claim 7, characterized in that: The main body and the side parts form a receiving space, and the force sensor is received in the receiving space.

9. The sensing module according to claim 1, characterized in that: The contact sensing layer includes a base layer and an electrode layer arranged on the base layer; the electrode layer includes a plurality of sensing areas.

10. The sensing module according to claim 1, characterized in that: The main control is fixedly assembled on a side of the bracket facing away from the force sensor.

11. A robot, characterized in that: include: The sensing module according to any one of claims 1 to 10.

12. A robotic arm, characterized in that: include: The sensing module according to any one of claims 1 to 10.

13. A robot, characterized in that: include: The sensing module according to any one of claims 1 to 10.

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