A multi-axis force sensor

Abstract

The utility model relates to sensor technical field, specifically disclose a kind of multi-axis force sensor, including elastomer and cover body, elastomer includes first shell, second shell, T type beam, first cabin, second cabin, first cabin is provided with first circuit board in, second cabin is provided with group bridge circuit board, first cabin and second cabin are used to expand the internal space of elastomer whole, to be able to place multiple circuit boards and electrical components to increase functionality, cover body is filled with elastic sealant between first shell, still separately set up the glue groove for filling sealant, to further improve the sealing level of sensor, by integrating group bridge piece on group bridge circuit board, and setting zero part at the accommodation slot, both can be easily factory debugging also can be easily repair dismantling strain gauge, without dismantling internal electrical components, so that it has convenience of debugging and maintenance.

Description

Technical Field

[0001] This utility model belongs to the field of sensor technology, and specifically relates to a multi-axis force sensor. Background Technology

[0002] Existing multiaxial force sensors have limited space for electronic components and lack a sealed structure, making it difficult to add electrical components to improve functionality and performance. Furthermore, the bridging plates in existing multiaxial force sensors are mostly distributed, independent structures attached to an elastomer or T-beam. Each sensor requires zeroing at the factory. If the sensor were made into a sealed structure while still using the existing bridging method, it would not only increase the difficulty of debugging, requiring disassembly of all components for each debugging session, which is time-consuming and inconvenient for future maintenance.

[0003] A multi-axis force sensor is disclosed in patent document application number "CN202222995750X", which includes an upper platform and a lower platform arranged opposite to each other. Multiple force measuring columns are arranged between the upper platform and the lower platform. Each force measuring column includes a horizontal force measuring arm and a vertical force measuring arm. One end of the vertical force measuring arm is fixedly connected to the middle of the horizontal force measuring arm. The two ends of the horizontal force measuring arm are distributed and fixedly connected to the peripheral wall of the upper platform. The other end of the vertical force measuring arm is fixedly connected to the lower platform. Strain gauges are arranged on both ends of the horizontal force measuring arm and on the vertical force measuring arm. The structure of the multi-axis force sensor in this prior art document is still a traditional structure. Its structure is flat, the internal chamber capacity is limited, and it cannot be completely sealed. Furthermore, the strain gauges are still connected by dispersed bridge plates, which makes zeroing and debugging inconvenient.

[0004] The above background information is provided only to assist in understanding the utility model concept and technical solution of this utility model, and it does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above information was disclosed on the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Utility Model Content

[0005] The purpose of this utility model is to provide a multi-axis force sensor, thereby overcoming the shortcomings of existing multi-axis force sensors, such as limited space for electrical component installation, poor sealing, difficulty in upgrading functions, and inconvenience in debugging and maintenance.

[0006] To achieve the above objectives, this utility model provides a multi-axis force sensor, including an elastic body. The elastic body includes a first housing and a second housing, with a T-beam connecting the first housing and the second housing. A strain gauge is mounted on the T-beam. The first housing contains a first chamber, in which several first circuit boards are stacked. The second housing contains a second chamber, in which a bridge circuit board is mounted. The bridge circuit board has a zero-adjustment part. The bottom of the second housing has a clearance groove communicating with the second chamber, the position of which corresponds to the T-beam. The bottom of the second housing has a detachable cover, the opening of which is filled with elastic sealant between itself and the first housing. A first flexible flat cable connects the first circuit board and the bridge circuit board. The strain gauge is electrically connected to the bridge circuit board. The zero-adjustment part faces the cover, and there are no external objects obstructing the connection between them.

[0007] Preferably, in the above technical solution, the bottom surface of the second housing is provided with a second connecting hole, a third connecting hole and a second pin hole, and the bottom of the cover is provided with a second through hole, a third through hole and a fourth through hole. The second through hole corresponds to the position of the second connecting hole, the third through hole corresponds to the position of the third connecting hole, and the fourth through hole corresponds to the position of the second pin hole. A connecting bolt is provided in the third connecting hole to enable the cover to be fixedly connected to the second housing.

[0008] Preferably, in the above technical solution, the second compartment is located at the bottom of the second housing, and the zeroing part is installed on the side of the bridge circuit board facing the cover; the second compartment has a central boss in the middle, and a third curved part on the side of the second compartment; the second pin hole is opened on the central boss and the third curved part; the bridge circuit board has a positioning hole and a second clearance opening in the middle and on the outer periphery, respectively; the positioning hole matches the central boss, and the second clearance opening matches the third curved part.

[0009] Preferably, in the above technical solution, the second compartment is located at the top of the second housing, and the edge of the bridge circuit board extends into the clearance groove and is fixedly connected to the zeroing part.

[0010] Preferably, in the above technical solution, one end of the first housing faces the second housing and has a passage opening, and the other end of the first housing is provided with a hatch. The passage opening and the hatch are simultaneously connected to the first compartment, and the first flexible cable can pass through the passage opening and the clearance groove. The outer periphery of the hatch is provided with a glue groove, and a cover is provided in the glue groove. The edge of the cover and the side wall of the glue groove are filled with sealant.

[0011] Preferably, in the above technical solution, the side wall of the first compartment is provided with a protruding first curved part and a second curved part, the other end of the first housing is provided with a first connecting hole and a first pin hole, the first connecting hole corresponds to the position of the first curved part, the first pin hole corresponds to the position of the second curved part, and the outer periphery of the cover and the first circuit board is provided with a first clearance opening, the first clearance opening is consistent with the contour of the first curved part and the second curved part.

[0012] Preferably, in the above technical solution, the width of the glue groove in the region between adjacent first and second curved portions is greater than the width of the glue groove in the corresponding region of the first or second curved portion.

[0013] Preferably, in the above technical solution, a second cable port is provided on the end face of the other end of the first housing, the second cable port enables the outside of the first housing to communicate with the first compartment, the side of the cover is provided with an outwardly extending ear plate, the ear plate is equipped with a communication connection terminal, the first circuit board is connected to the communication connection terminal through a second flexible cable, the second flexible cable can pass through the second cable port, and the second cable port is filled with the sealant.

[0014] Preferably, in the above technical solution, a serial port is provided on the side of the first housing, the serial port is connected to the first compartment, and a rubber plug is provided at the serial port.

[0015] Preferably, in the above technical solution, the inner sidewall of the cover is provided with an annular groove, the top of the annular groove is connected to the opening of the cover, and adhesive tape is attached to the inside of the annular groove.

[0016] Compared with existing technologies, this utility model has the following beneficial effects: 1. The multi-axis force sensor of this utility model expands the internal space of the elastomer by opening independent first and second chambers in the first and second housings, respectively, thereby accommodating multiple circuit boards and electrical components to increase functionality. A cover is installed at the bottom of the second housing, and elastic sealant is filled between the cover and the first housing. A separate sealant groove is also provided to further improve the sealing level of the sensor. By integrating the traditionally distributed bridge plates onto the bridge circuit board and opening clearance grooves, the sensor can be easily debugged and installed, and the strain gauges can be easily removed for repair without removing internal electrical components, making debugging and maintenance convenient.

[0017] 2. In this utility model, the first circuit board and the bridge circuit board are connected by a first flexible flat cable, which allows good electrical connectivity and communication function even when the first and second housings undergo a certain torsional displacement. Furthermore, the second compartment can be located at either the bottom or the top of the second housing, providing a more flexible installation method for the bridge circuit board. An ear plate for outward expansion is provided on the outside of the housing, and a communication connection terminal is provided on the ear plate. The communication connection terminal is electrically connected to the first circuit board via a second flexible flat cable and can pass through the second cable port. The second cable port is connected to the glue groove, which can be sealed together when applying sealant, thereby ensuring the overall sealing of the sensor.

[0018] 3. The side wall of the first compartment in this utility model is provided with an inwardly protruding first curved part and a second curved part, which not only increases the size of the first connecting hole and the first pin hole to improve the connection strength, but also serves to lock and limit the first circuit board; when the second compartment is opened at the bottom of the second shell, the second compartment is provided with a central boss and a third curved part, which not only serves to fix the bridge circuit board, but also increases the opening space of the second pin hole, so as to improve the diameter and strength of the second pin hole.

[0019] 4. In this utility model, the width of the adhesive groove in the area between the first curved part and the second curved part is greater than the width of the adhesive groove in the corresponding area of ​​the first curved part or the second curved part. This can increase the amount of sealant used while satisfying the positioning accuracy of the cover as much as possible, thereby making the cover more firmly fixed.

[0020] 5. The inner wall of the cover in this utility model is provided with an annular groove near the opening. Adhesive tape can be applied before applying the elastic sealant, so that one edge of the tape fits into the annular groove near the root. This can prevent excessive elastic sealant from seeping into the groove and damaging electrical components when applying the elastic sealant. In addition, some elastic sealant can seep into the top area of ​​the annular groove, thus providing more adhesive area at the edge and better anti-detachment effect. Attached Figure Description

[0021] Figure 1 This is a structural diagram of the multi-axis force sensor in this utility model.

[0022] Figure 2 This is a partial cross-sectional view of a multi-axis force sensor.

[0023] Figure 3 This is a structural diagram of a multi-axis force sensor after removing the cover and elastic sealant.

[0024] Figure 4 This is a top view of an elastomer.

[0025] Figure 5 This is a structural diagram of the cover.

[0026] Figure 6 This is a partial cross-sectional view of a multi-axis force sensor when the bridge circuit board is installed in another way.

[0027] Explanation of key figure labels: 100-Elastomer, 110-First housing, 111-First compartment, 112-Pass-through port, 113-Hatch, 114-Glue groove, 115-First bend, 116-Second bend, 117-First connecting hole, 118-First pin hole, 119-First cable port, 120-Second housing, 121-Second compartment, 122-Second connecting hole, 123-Third connecting hole, 124-Second pin hole, 125-Center boss, 126-Third bend, 130-T-beam, 131-Crossbeam, 132-Longitudinal beam, 140-Relief groove, 150-Cover, 160-Sealant, 170-Second cable port, 180-Serial cable port, 181-Rubber plug; 200-strain gauge; 300 - First circuit board, 310 - Clearance port; 400 - Bridge circuit board, 410 - Zero adjustment part, 420 - Positioning hole, 430 - Second clearance port; 500-Cover body, 510-Ear plate, 520-Communication connection terminal, 530-Second through hole, 540-Third through hole, 550-Fourth through hole, 560-Connecting bolt, 570-Ring groove, 580-Tape; 600 - Elastic sealant; 700 - First Flexible Flat Cable; 800 - Second flexible flat cable. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] In the description of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "top surface", "bottom surface", "inner", "outer", "inner side", "outer side", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0030] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. Where the terms "first," "second," and "third" are used for descriptive purposes and to distinguish technical features, they should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The embodiments of this utility model will now be described based on its overall structure.

[0032] like Figures 1 to 5As shown, the multi-axis force sensor in this embodiment includes: an elastic body 100, a first housing 110, a first chamber 111, a passage 112, a hatch 113, a glue groove 114, a first bent portion 115, a second bent portion 116, a first connecting hole 117, a first pin hole 118, a first cable port 119, a second housing 120, a second chamber 121, a second connecting hole 122, a third connecting hole 123, a second pin hole 124, a central boss 125, a third bent portion 126, a T-beam 130, a crossbeam 131, and a longitudinal beam 1. 32. Leaving groove 140, cover 150, sealant 160, second ribbon cable port 170, serial cable port 180, rubber plug 181, strain gauge 200, first circuit board 300, leaving port 310, bridge circuit board 400, zero adjustment part 410, cover 500, ear plate 510, communication connection terminal 520, second through hole 530, third through hole 540, fourth through hole 550, connecting bolt 560, ring groove 570, tape 580, elastic sealant 600, first flexible ribbon cable 700, second flexible ribbon cable 800.

[0033] The elastomer 100 includes a first housing 110 and a second housing 120, which are connected by a T-beam 130. A first compartment 111 and a second compartment 121 are respectively formed within the first housing 110 and the second housing 120. Several first circuit boards 300 are stacked and installed in the first compartment 111. The second compartment 121 is located at the bottom of the second housing 120 and contains a bridging circuit board 400. A zero-adjustment part 410 is installed at the bottom of the bridging circuit board 400. Multiple clearance grooves 140 are formed at the bottom of the second housing 120, corresponding to the T-beam 130, and their tops are connected to the bottom of the second compartment 121. The bridging circuit board 400 is installed at the bottom of the second compartment 121. The T-beam 130 includes a crossbeam 131 and a longitudinal beam 132. One end of the first housing 110 is fixedly connected to the second housing 120. There are two crossbeams 131, which are set at the other end of the longitudinal beam 132. The two crossbeams 131 are symmetrically arranged with the center line of the longitudinal beam 132 as the center and are perpendicular to the longitudinal beam 132. The strain gauges 200 are attached to the sides of the crossbeams 131 and the longitudinal beam 132. The strain gauges 200 are electrically connected to the bridge circuit board 400. The ends of the crossbeams 131 are fixedly connected to the two sides of the relief groove 140. The bottom of the second housing 120 is detachably fitted with a cover 500. The opening of the cover 500 and the first housing 110 are filled with elastic sealant 600. The first circuit board 300 and the bridge circuit board 400 are connected by a first flexible flat cable 700. The side of the first housing 110 is provided with a serial port 180, which is connected to the first compartment 111. A rubber plug 181 is provided at the serial port 180.

[0034] Additionally, the first housing 110 has a passage opening 112 at one end facing the second housing 120, and a hatch 113 at the other end of the first housing 110. The passage opening 112 and the hatch 113 communicate with the first compartment 111. A glue groove 114 is provided on the outer periphery of the hatch 113, and a cover 110 is provided inside the glue groove 114. The edge of the cover 150 and the side wall of the glue groove 114 are filled with sealant 160. A first curved portion 115 and a second curved portion 116 are provided on the side wall of the first compartment 111. A first connecting hole 117 and a first pin hole 118 are provided at the end of the first housing 110 away from the second housing 120. The first connecting hole 117 and the first curved portion 116 are connected. The position of 15 corresponds to and is opened at the top of the first curved portion 115. The position of the first pin hole 118 corresponds to and is opened at the top of the second curved portion 116. The outer periphery of the cover 150 and the first circuit board 300 is provided with a clearance opening 310, which is consistent with the contour of the first curved portion 115 and the second curved portion 116. The width of the glue groove 114 in the area between adjacent first curved portions 115 and second curved portions 116 is greater than the width of the glue groove 114 in the corresponding area of ​​the first curved portion 115 or the second curved portion 116. The outer periphery of the through port 112 is provided with a first ribbon cable port 119, through which the first flexible ribbon cable 700 can pass.

[0035] Additionally, a second cable port 170 is provided on the end face of the first housing 110 away from the second housing 120. The second cable port 170 connects the outside of the first housing 110 with the first compartment 111. An outwardly extending ear plate 510 is provided on the side of the cover 500. A communication connection terminal 520 is installed on the ear plate 510. The first circuit board 300 is connected to the communication connection terminal 520 through a second flexible cable 800. The second flexible cable 800 can pass through the second cable port 170, and the second cable port 170 is also filled with sealant 160.

[0036] Additionally, a second connecting hole 122, a third connecting hole 123, and a second pin hole 124 are provided on the bottom surface of the second housing 120. A second through hole 530, a third through hole 540, and a fourth through hole 550 are provided on the bottom of the cover 500. The second through hole 530 corresponds to the position of the second connecting hole 122, the third through hole 540 corresponds to the position of the third connecting hole 123, and the fourth through hole 550 corresponds to the position of the second pin hole 124. A connecting bolt 560 is provided in the third connecting hole 123 to fix the cover 500 to the second housing 120. The second compartment 121 has a central boss 125 in the middle and a third bend 126 on the side. There are two second pin holes 124, which are respectively opened on the central boss 125 and the third bend 126. The bridge circuit board 400 has a positioning hole 420 and a second clearance opening 430 in the middle and on the outer periphery, respectively. The positioning hole 420 matches the central boss 125 and can be fitted on the outer periphery of the central boss 125. The second clearance opening 430 matches the third bend 126 and can be locked on the side of the third bend 126.

[0037] In addition, an annular groove 570 is provided on the inner side wall of the cover 500. The top of the annular groove 570 is connected to the opening of the cover 500. Adhesive tape 580 is attached inside the annular groove 570. The function of the adhesive tape 580 is to restrict the flow when the elastic sealant 600 is applied, so as to prevent the elastic sealant 600 from seeping into the first compartment 111 and the second compartment 121 and damaging the first circuit board 300 and the bridge circuit board 400.

[0038] In addition, such as Figure 6 As shown, there is another embodiment of the location of the second chamber 121 and the installation location of the bridge circuit board 400. That is, the second chamber 121 is located on the top of the second housing 120, and the edge of the bridge circuit board 400 can extend into the relief groove 140 from the side. The bottom of this part is fixedly connected to the zero adjustment part 410. After the cover 500 is removed, the zero adjustment part 410 can be adjusted and the strain gauge 200 can be removed and replaced through the relief groove 140 at the bottom of the second housing 120.

[0039] Next, the working principle of a multi-axis force sensor in this embodiment will be described in detail to enable those skilled in the art to better understand this utility model: A first compartment 111 within the first housing 110 can be used to install electrical components such as the first circuit board 300 and a battery pack. A second compartment 121 at the top or bottom of the second housing 120 is used to install a bridge circuit board 400. The bridge circuit board 400 is electrically connected to the strain gauge 200. The first circuit board 300 and the bridge circuit board 400 are connected by a first flexible flat cable 700. The outer diameter of the first housing 110 is larger than the outer diameter of the second housing 120. A cover 500 is installed at the bottom of the second housing 120. The outer diameter of the cover 500 is the same as the outer diameter of the first housing 110, and its side is connected to a communication connector via an ear plate 510. The first circuit board 300 is connected to the communication connection terminal 520 via the second flexible flat cable 800. The opening of the cover 500 and the bottom of the first housing 110 are filled with elastic sealant 600. The cover plate at the hatch 113 at the top of the first housing 110 is fixed and sealed by applying sealant 160 in the glue groove 114. At the same time, the sealant 160 can also fill the second cable port 170 to seal it. This satisfies the requirement of setting more functional units and more external interfaces in the multi-axis torque sensor to expand its functions, and also ensures the airtightness of the housing to meet the waterproof requirements.

[0040] During factory zeroing and repair maintenance, the cover 500 can be directly removed. When the bridge circuit board 400 is installed in the second compartment 121 at the top of the second housing 120, the strain gauge 200 can be replaced and the zeroing unit 410 can be calibrated through the clearance groove 140 without removing the cover 150 at the top of the first housing 110 and the first circuit board 300. When the bridge circuit board 400 is installed in the second compartment 121 at the bottom of the second housing 120, the zeroing unit 410 can be calibrated directly.

[0041] In summary, the multi-axis force sensor in this embodiment expands the overall internal space of the elastomer 100 by opening independent first chambers 111 and second chambers 121 in the first housing 110 and the second housing 120, respectively, thereby accommodating multiple circuit boards and electrical components to increase functionality. Furthermore, a cover 500 is installed at the bottom of the second housing 120, and elastic sealant 600 is filled between the cover 500 and the first housing 110. A separate glue groove 114 for filling the sealant 160 is also provided, thereby further improving the sealing level of the sensor. By integrating the traditionally distributed bridge plates onto the bridge circuit board 400 and providing a clearance groove 140, it is convenient for both factory installation and debugging of the sensor and for easy removal of the strain gauge 200 during repair, without the need to remove internal electrical components, making its debugging and maintenance convenient.

[0042] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the present invention and are not intended to limit the invention. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. The purpose of selecting and describing exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art, after reading this specification, can make modifications, substitutions, variations, and various choices and changes to the embodiments as needed without departing from the principles and spirit of the present invention, provided that such modifications, substitutions, variations, and choices and changes are within the scope of the claims of the present invention and are protected by patent law.

Claims

1. A multiaxial force sensor, comprising an elastic body, the elastic body including a first housing and a second housing, a T-beam connecting the first housing and the second housing, and strain gauges disposed on the T-beam; characterized in that: The first housing contains a first compartment, in which several first circuit boards are stacked. The second housing contains a second compartment, in which a bridge circuit board is installed. The bridge circuit board has a zero-adjustment part. The bottom of the second housing has a clearance groove that communicates with the second compartment, and the position of the clearance groove corresponds to the T-beam. The bottom of the second housing has a detachable cover, and the opening of the cover is filled with elastic sealant between itself and the first housing. A first flexible flat cable connects the first circuit board and the bridge circuit board. The strain gauge is electrically connected to the bridge circuit board. The zero-adjustment part faces the cover and there are no foreign objects obstructing the connection between them.

2. The multi-axis force sensor according to claim 1, characterized in that, The bottom surface of the second housing is provided with a second connecting hole, a third connecting hole and a second pin hole. The bottom of the cover is provided with a second through hole, a third through hole and a fourth through hole. The second through hole corresponds to the position of the second connecting hole, the third through hole corresponds to the position of the third connecting hole, and the fourth through hole corresponds to the position of the second pin hole. A connecting bolt is provided in the third connecting hole to fix the cover to the second housing.

3. The multi-axis force sensor according to claim 2, characterized in that, The second compartment is located at the bottom of the second housing, and the zeroing part is installed on the side of the bridge circuit board facing the cover. The second compartment has a central boss in the middle and a third bend on the side. The second pin hole is located on the central boss and the third bend. The bridge circuit board has a positioning hole and a second clearance opening in the middle and on the outer periphery, respectively. The positioning hole matches the central boss, and the second clearance opening matches the third bend.

4. The multi-axis force sensor according to claim 1, characterized in that, The second compartment is located at the top of the second housing, and the edge of the bridge circuit board extends into the clearance groove and is fixedly connected to the zeroing part.

5. The multi-axis force sensor according to claim 1, characterized in that, One end of the first housing faces the second housing and has a passage opening. The other end of the first housing has a hatch. The passage opening and the hatch are connected to the first compartment. The first flexible cable can pass through the passage opening and the clearance groove. The outer periphery of the hatch has a glue groove. The glue groove has a cover. The edge of the cover and the side wall of the glue groove are filled with sealant.

6. The multi-axis force sensor according to claim 5, characterized in that, The side wall of the first compartment is provided with a protruding first curved part and a second curved part. The other end of the first housing is provided with a first connecting hole and a first pin hole. The first connecting hole corresponds to the position of the first curved part, and the first pin hole corresponds to the position of the second curved part. The outer periphery of the cover and the first circuit board is provided with a first clearance opening. The first clearance opening is consistent with the contour of the first curved part and the second curved part.

7. The multi-axis force sensor according to claim 6, characterized in that, The width of the groove in the region between adjacent first and second bends is greater than the width of the groove in the region corresponding to the first or second bend.

8. The multi-axis force sensor according to claim 7, characterized in that, The other end face of the first housing is provided with a second cable port, which connects the outside of the first housing with the first compartment. The side of the cover is provided with an outwardly extending ear plate, on which a communication connection terminal is installed. The first circuit board is connected to the communication connection terminal through a second flexible cable. The second flexible cable can pass through the second cable port, which is filled with the sealant.

9. The multi-axis force sensor according to claim 1, characterized in that, The first housing has a serial port on its side, which is connected to the first compartment, and a rubber plug is provided at the serial port.

10. The multi-axis force sensor according to claim 1, characterized in that, The inner wall of the cover is provided with an annular groove, the top of the annular groove is connected to the opening of the cover, and adhesive tape is attached to the inside of the annular groove.

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