A high-overload protection force sensor

Abstract

The present invention relates to a high-overload protection force sensor. The force sensor includes an external frame, an internal platform, and a plurality of elastic beams disposed between the external frame and the internal platform. The force sensor includes a plurality of overload protection portions circumferentially distributed. The overload protection portion includes a mating surface with a gap formed by the inward extension of a part of the external frame and the outward extension of a part of the internal platform. The beneficial effects of the present invention are: the structure of the force sensor is simple, easy to process, and has good overload performance.

Description

Technical Field

[0001] The invention relates to the technical field of sensors, and in particular to a high overload protection force sensor. Background Art

[0002] With the continuous development of robot technology, robots are increasingly used in various occasions, such as handling, welding, and testing. The increasingly rich application scenarios of robots require them to be more intelligent and precise, and with it comes an increase in the demand for force control at the end of the robot's actuator.

[0003] Force sensors can be installed at the end of the robot actuator to meet its force control needs. At present, force sensors have become a key research direction. There are endless design schemes for the structural design of force sensors, especially for elastic beams, but there are relatively few designs for overload protection of force sensors. The overload protection structure of force sensors is of great significance and will directly affect the safety of using force sensors. Research on the safety of force sensors is of great significance to the field of robots, especially for collaborative robots with extremely high safety requirements.

[0004] In the process of realizing the present invention, the inventors found that the overload protection structure of the force sensor in the prior art is generally complicated. For example, the patent with the announcement number CN103528726B provides an overload protection structure, which is provided by opening a protection hole on the overload protection beam and the outer beam to match the protection pin, and the protection pin is interference fit with the overload protection beam and clearance fit with the outer ring tool through hole. The overload protection structure of this scheme has high rigidity and adjustable clearance, but there are problems such as complex structure and high processing difficulty.

[0005] Therefore, it is necessary to design a force sensor with simple structure, easy implementation and good overload performance. Summary of the invention

[0006] In view of this, an object of the present invention is to provide a force sensor with a simple structure, easy implementation and good overload performance.

[0007] The present invention can adopt the following technical solution: a force sensor, including an external frame, an internal platform and a plurality of elastic beams arranged between the external frame and the internal platform, the force sensor including a plurality of overload protection parts distributed circumferentially, the overload protection part including a mating surface with a gap formed by the inward extension of the external frame part and the outward extension of the internal platform part.

[0008] Furthermore, the multiple overload protection parts include a first overload protection part and a second overload protection part, the first overload protection part is at least used to limit the displacement of the force sensor along the vertical direction, and the second overload protection part is at least used to limit the displacement of the force sensor along the horizontal direction.

[0009] Furthermore, the first overload protection part can convert at least part of the displacement in the vertical direction into the displacement in the horizontal direction, and the first overload protection part and the second overload protection part act together to limit the displacement of the force sensor in the vertical direction.

[0010] Furthermore, the first overload protection part includes a mating inclined plane with a gap, and the mating inclined plane forms an angle with the vertical direction that is neither 90 degrees nor 180 degrees.

[0011] Furthermore, the mating surface of the second overload protection part is a mating inclined plane or a mating curved surface, and the mating surface of the second overload protection part is perpendicular to the horizontal plane.

[0012] Furthermore, the second overload protection part includes symmetric mating inclined planes or mating curved surfaces.

[0013] Furthermore, the multiple overload protection parts include a pair of first overload protection parts arranged in pairs and a pair of second overload protection parts arranged in pairs to jointly limit the displacement or torsion of the force sensor in different directions.

[0014] Furthermore, the pair of first overload protection parts arranged in pairs is symmetric or anti-symmetric with respect to the center of the force sensor, and / or the pair of second overload protection parts arranged in pairs is symmetric or anti-symmetric with respect to the center of the force sensor.

[0015] Furthermore, the first overload protection part includes a mating stepped surface in the vertical direction.

[0016] Furthermore, the overload protection part includes a mating inclined plane, and the mating inclined plane of the first overload protection part has a different inclination direction from the mating inclined plane of the second overload protection part to limit the displacement or torsion of the force sensor in different directions.

[0017] Furthermore, the force sensor includes four elastic beams distributed in a cross shape, and the overload protection part is arranged between adjacent elastic beams.

[0018] Furthermore, the force sensor is formed as a torque sensor, a three-dimensional force sensor or a six-dimensional force sensor.

[0019] The present invention can also adopt the following technical solution: A robot includes a working arm driven by an actuator to perform work, the end of the working arm includes a connector for connecting various task tools, and the force sensor described in any one of the above is arranged in the connector, and the robot controls the execution of work at least partially according to the detection result of the force sensor.

[0020] Furthermore, the robot is an industrial robot, and preferably, the robot is a collaborative robot.

[0021] Compared with the prior art, the beneficial effects of the specific embodiments of the present invention are as follows: The overload protection part of the force sensor includes a mating surface with a gap formed by the inward extension of the external frame part and the outward extension of the internal platform part. The displacement of the force sensor is restricted by the abutment of the mating surface. The force sensor has a simple structure, is easy to process, and has good overload performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The objects, technical solutions, and beneficial effects of the present invention described above can be achieved through the following drawings:

[0023] Figure 1 is a schematic diagram of the force sensor according to the first embodiment of the present invention

[0024] Figure 2 is a schematic diagram of the force sensor according to the second embodiment of the present invention

[0025] Figure 3 is a schematic diagram of the force sensor according to the third embodiment of the present invention

[0026] Figure 4 is a schematic diagram of the force sensor according to the fourth embodiment of the present invention

[0027] Figure 5 is a schematic diagram of the robot according to an embodiment of the present invention DETAILED DESCRIPTION

[0028] To make the objects, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] The present invention protects a force sensor. Refer Figures 1-4Several embodiments of the force sensor 1 protected by the present invention are shown. The force sensor 1 includes an outer frame 10, an inner platform 20, and a plurality of elastic beams 30 disposed between the outer frame 10 and the inner platform 20. The elastic beams can be pasted with strain gauges to detect force / moment according to the deformation of the elastic beams. The force sensor 1 includes a plurality of overload protection portions 40 distributed circumferentially, which are used to limit the displacement of the force sensor 1 to ensure the safe use of the force sensor. The overload protection portion 40 includes a mating surface with a gap formed by the inward extension of a part of the outer frame 10 and the outward extension of a part of the inner platform 20. Specifically, a cut surface is formed by the inward extension of a part of the outer frame 10, and a cut surface is formed by the outward extension of a part of the inner platform 20. The cut surface of the outer frame 10 and the cut surface of the inner frame can form a mating surface with a gap. When the force sensor is subjected to a force or moment exceeding the range of the force sensor, the gap can provide an overload stroke to avoid damage to the force sensor. At the same time, the mating surface formed by the outer frame 10 and the inner platform 20 restricts the excessive deformation of the force sensor 1. The outer frame 10 and the inner platform form a mating surface, and the inward extension part of the outer frame and the outward extension part of the inner platform form a support structure. Therefore, the force sensor has good rigidity and overload performance under overload force, and the size of the support structure can be indirectly changed by changing the size of the mating surface to strengthen the overload performance of the force sensor. The overload of the force sensor 1 is restricted by forming a mating surface with a gap between the outer frame 10 and the inner platform 20. The existence of the gap can ensure that the force sensor 1 has an appropriate overload stroke. By adjusting the size of the gap, the overload requirements in different scenarios can be adapted. Overload protection is achieved through the action of the mating surface without adding new components. The structure of the force sensor is relatively simple. At the same time, the treatment of the mating surface is relatively simple. Compared with the traditional methods of pin hole fitting or using screws, the force sensor of this solution has a simple structure, is easy to process, is easy to implement, has a high stiffness, and has a strong overload resistance, and is suitable for industrial promotion and application.

[0030] The force sensor 1 includes a plurality of overload protection portions 40. The overload protection portion 40 includes a mating surface with a gap formed by the inward extension of a part of the outer frame 10 and the outward extension of a part of the inner platform 20. Further, parts at a plurality of different positions of the outer frame 10 extend inward, and parts at a plurality of different positions of the inner platform 20 extend outward, thereby forming a plurality of mating surfaces with gaps, and further forming a plurality of overload protection portions 40. Preferably, the plurality of overload protection portions 40 are evenly distributed along the circumference of the force sensor 1. In an embodiment of the present invention, the plurality of overload protection portions 40 include a first overload protection portion 41 and a second overload protection portion 42. The first overload protection portion 41 is at least used to limit the displacement of the force sensor 1 in the vertical direction, and the second overload protection portion 42 is at least used to limit the displacement of the force sensor 1 in the horizontal direction. The force sensor 1 may be subjected to overload forces in at most 6 directions. For a force sensor, to comprehensively ensure the overload protection effect, it is necessary to consider the action of overload forces in 6 directions. A coordinate system is established with the center of the force sensor 1 as the coordinate origin. Refer Figure 1, the force sensor 1 may be subjected to overload forces in six directions, namely Fx, Fy, and Fz, as well as Mx, My, and Mz, that is, the forces and torques along the X-axis, Y-axis, and Z-axis directions. Among them, the overload forces in the X and Y-axis directions cause displacements in the horizontal direction, and the overload force in the Z-axis direction causes a displacement in the vertical direction. When the force sensor is subjected to overload torques in different directions, torsional deformations along the X, Y, and Z axes may occur respectively. By providing a plurality of overload protection parts including a first overload protection part 41 and a second overload protection part 42, the effect of overload protection of the force sensor 1 can be comprehensively ensured, enabling the force sensor 1 to cope with the action of forces in six directions. Specifically, the first overload protection part 41 is at least used to limit the displacement of the force sensor 1 in the vertical direction, and the second overload protection part 42 is at least used to limit the displacement of the force sensor 1 in the horizontal direction. Further, the second overload protection part 42 is used to limit the torsional deformation caused when the force sensor 1 is subjected to an overload torque, and the first overload protection part 41 is used to assist in limiting the deformation of the force sensor in the horizontal direction. That is, with the coordinate system established with the center point of the force sensor as the origin as a reference, the first overload protection part 41 is at least used to limit the displacement in the Z direction, and the second overload protection part 42 is at least used to limit the displacements in the X and Y directions. That is, the first overload protection part 41 is at least used to limit the action of Fz, and the second overload protection part 42 is at least used to limit the actions of Fx, Fy, Mx, My, and Mz. Specifically, the first overload protection part 41 is used to assist the second overload protection part 42 in limiting the displacement in the horizontal direction, and the second overload protection part is used to assist the first overload protection part in limiting the displacement in the vertical direction. Specifically, the first overload protection part 41 and the second overload protection part 42 can be used alone to limit the displacement of the force sensor in a certain direction, or the first overload protection part and the second overload protection part can act together to limit the displacement and / or torsion of the force sensor in a certain direction to enhance the effect of overload protection of the force sensor, or a plurality of first overload protection parts and a plurality of second overload protection parts act together to limit the displacement and / or torsion of the force sensor.

[0031] In an embodiment of the present invention, the overload protection portion includes a mating inclined surface, that is, the first overload protection portion includes a mating inclined surface, the second overload protection portion includes a mating inclined surface, the inclination directions of the mating inclined surfaces of the first overload protection portion and the second overload protection portion are different, the inclined surface of the first overload protection portion is at least used to limit the displacement of the force sensor in the vertical direction, and the inclined surface of the second overload protection portion is at least used to limit the displacement of the force sensor in the horizontal direction. The force sensor includes a plurality of overload protection portions distributed circumferentially, the plurality of overload protection portions includes at least two first overload protection portions and at least two second overload protection portions, the at least two first overload protection portions are at least used to limit the displacement of the force sensor in the vertical direction, and the at least two second overload protection portions are at least used to limit the displacement of the force sensor in the horizontal direction. Further, a plurality of the first overload protection portions are jointly used to limit the displacement of the force sensor in the vertical direction, and a plurality of second overload protection portions are jointly used to limit the displacement of the force sensor in the horizontal direction to ensure the overload protection performance of the force sensor.

[0032] In an embodiment of the present invention, the first overload protection portion includes a mating inclined surface with a gap, and the mating inclined surface forms an angle with the vertical direction that is neither 90 degrees nor 180 degrees. The mating surface of the second overload protection portion includes a mating inclined surface or a mating curved surface, and the mating surface of the second overload protection portion is perpendicular to the horizontal plane. That is, the mating surface of the first overload protection portion forms an angle with the vertical direction that is neither 90 degrees nor 180 degrees, that is, the mating surface of the first overload protection portion is in an inclined state in the vertical direction to at least limit the displacement of the force sensor in the vertical direction, that is, the mating surface of the first overload protection portion can generate a supporting force in the vertical direction to limit the displacement of the force sensor in the vertical direction. At the same time, the mating surface of the first overload protection portion can also limit the displacement in the horizontal direction. The force sensor includes a plurality of overload protection portions, the plurality of overload protection portions includes a plurality of first overload protection portions, the mating inclined surfaces of the plurality of first overload protection portions form an angle with the vertical direction that is neither 90 degrees nor 180 degrees, that is, the mating inclined surfaces of the plurality of first overload protection portions are in an inclined state in the vertical direction. Preferably, the inclination angles of the mating inclined surfaces of the plurality of first overload protection portions are the same. In an embodiment of the present invention, the plurality of first overload protection portions form an angle with the vertical direction that is neither 90 degrees nor 180 degrees, and at least two of the plurality of first overload protection portions have opposite inclination directions in the vertical direction to limit the displacement caused by the opposite acting forces of the force sensor in the vertical direction.

[0033] As described above, the mating surface of the second overload protection portion is perpendicular to the horizontal plane, and the second overload protection portion is at least used to limit the displacement of the force sensor in the horizontal direction. The mating surface of the second overload protection portion can limit the displacement caused by the acting force in the horizontal direction and the torsion caused by the overload moment received by the force sensor. In an embodiment of the present invention, the second overload protection portion includes a mating inclined surface. The plurality of overload protection portions include a plurality of second overload protection portions, and at least two of the second overload protection portions are inclined in opposite directions in the direction perpendicular to the horizontal plane to limit the displacement or torsion of the force sensor in different directions. Specifically, the second overload protection portion includes a symmetric mating inclined surface or a mating curved surface so that the second overload protection portion can limit the forces or torques in multiple directions.

[0034] The force sensor 1 includes a plurality of overload protection portions 40. Preferably, the plurality of overload protection portions 40 are uniformly distributed along the circumferential direction of the force sensor 1. The plurality of overload protection portions 40 include paired first overload protection portions 41 and paired second overload protection portions 42 to jointly limit the displacement or torsion of the force sensor in different directions. That is, the plurality of overload protection portions include at least two first overload protection portions and at least two second overload protection portions to jointly limit the displacement or torsion of the force sensor in different directions. Further, the paired first overload protection portions are symmetric or anti-symmetric with respect to the center of the force sensor, and / or, the paired second overload protection portions are symmetric or anti-symmetric with respect to the center of the force sensor. Figure 1 The paired first overload protection portions are anti-symmetric to limit the displacement caused by the reaction force in the vertical direction. One first overload protection portion is mainly used to limit the downward displacement of the force sensor in the vertical direction, and the other first overload protection portion is mainly used to limit the upward displacement of the force sensor in the vertical direction; the paired second overload protection portions are symmetrically arranged so that when the force sensor generates displacement in the X and Y axis directions under the action of an overload force or generates torsion under an overload moment, different second overload protection portions jointly limit it to improve the overload protection performance of the force sensor. By setting like this, the paired first overload protection portions can limit the displacement caused by the opposite acting forces in the vertical direction of the force sensor, or have a dual effect on the displacement caused by the force in the vertical direction; the paired second overload protection portions can have a dual effect on the displacement caused by the forces in each direction or the torsion caused by the moment to improve the overload protection performance of the force sensor.

[0035] The force sensor 1 includes a plurality of overload protection portions 40. The plurality of overload protection portions 40 include a first overload protection portion 41 and a second overload protection portion 42. Several specific embodiments of the first overload protection portion 41 and the second overload protection portion 42 will be provided below.

[0036] In one embodiment of the present invention, refer to Figure 1 , the first overload protection portion 41 is formed as a mating inclined surface with a gap, that is, a part of the outer frame 10 extends inward to form an inclined surface, and a part of the inner platform 20 extends outward to form an inclined surface. The inclined surface of the outer frame 10 and the inclined surface of the inner platform 20 form a mating inclined surface with a gap, so as to at least limit the displacement of the force sensor 1 in the vertical direction, that is, at least limit the displacement of the force sensor 1 in the Z-axis direction. When the first overload protection portion 41 of the mating inclined surface including the gap is subjected to an overload force in the Z-axis direction, due to the action of the inclined surface, the vertical displacement can also be converted into a horizontal displacement, and the second overload protection portion 42 further acts to limit the displacement, so as to strengthen the limitation of the displacement of the force sensor in the vertical direction, so that the force sensor has better overload protection performance in the vertical direction. When the force in the vertical direction is small, its displacement can be limited only by the first overload protection portion. When the force in the vertical direction continues to increase, the mating inclined surface of the first overload protection portion converts the vertical displacement into a horizontal displacement, and the second overload protection portion can limit the horizontal displacement. Therefore, the first overload protection portion and the second overload protection portion act together to limit the displacement of the force sensor in the vertical direction, so that the force sensor has better overload performance and can withstand a larger overload force. At the same time, since the first overload protection portion adopts a mating inclined surface, the greater the overload force suffered by the force sensor in the Z-axis direction, the greater the frictional force and the supporting reaction force generated between the first overload protection portion and the second overload protection portion, so that the overload performance of the force sensor is better.

[0037] In another embodiment of the present invention, refer to Figure 4 , the first overload protection portion 41 is formed as a mating stepped surface with a gap along the vertical direction, that is, a part of the outer frame 10 extends inward to form a stepped surface, and a part of the inner platform 20 extends outward to form a stepped surface. The stepped surface of the outer frame 10 and the stepped surface of the inner platform 20 form a mating stepped surface with a gap, so as to at least limit the displacement of the force sensor 1 in the vertical direction, that is, at least limit the displacement of the force sensor 1 in the Z-axis direction.

[0038] In an embodiment of the present invention, the mating surface of the second overload protection portion 42 includes symmetric mating surfaces, that is, a cut surface is formed by partial inward extension of the outer frame 10, and a cut surface is formed by partial outward extension of the inner platform 20. The cut surface of the outer frame 10 and the cut surface of the inner platform 20 together form a mating surface with a gap. At the same time, the cut surface of the outer frame 10 is a symmetric structure, the cut surface of the inner platform 20 is a symmetric structure, and the second overload protection portion 42 is formed into a symmetric mating surface with a gap, so as to at least limit the displacement of the force sensor 1 in the horizontal direction, that is, at least limit the displacement of the force sensor 1 in the X and Y axis directions. Further, the second overload protection portion 42 is used to limit the torsional deformation of the force sensor caused by an overload moment. Further, the second overload protection portion 42 includes symmetric mating inclined surfaces. In an embodiment of the present invention, refer to Figure 1 , Figure 1 the second overload protection portion 42 in [reference] includes symmetric mating surfaces, and each of the mating surfaces is composed of two symmetrically intersecting inclined surfaces, and the mating surface is generally a top view of an isosceles triangle. In another embodiment of the present invention, refer to Figure 2 , the second overload protection portion 42 includes symmetric mating surfaces, and each of the mating surfaces includes symmetric inclined surfaces, and the top view of the mating surface is generally an isosceles trapezoid. In other embodiments, the top view of the second overload protection portion 42 may also be in the shape of a regular hexagon or the like. In yet another embodiment of the present invention, refer to Figure 3, the second overload protection part 42 includes symmetric mating surfaces, and each of the mating surfaces includes symmetric surfaces, that is, the second overload protection part 42 includes two symmetric surfaces with clearance fit. By setting that the second overload protection part 42 includes symmetric mating surfaces with clearance, the symmetric mating surfaces can be used to limit the displacement of the force sensor 1 in at least all directions along the horizontal direction. Combining with that the first overload protection part 41 is at least used to limit the displacement of the force sensor 1 in the vertical direction, the displacement of the force sensor 1 in different directions can be comprehensively limited. The first overload protection part 41 and the second overload protection part 42 can be used to limit displacements in different directions. When the displacement directions limited by the first overload protection part 41 and the second overload protection part 42 are perpendicular to each other, when the first overload protection part 41 plays the role of overload protection, the second overload protection part 42 can give a second limitation in the direction perpendicular to the direction limited by the first overload protection part 41, so as to enhance the overload protection effect of the first overload protection part, and vice versa, making the overload protection performance of the force sensor good and the safety of the force sensor good. For example, when the first overload protection part 41 is a mating inclined plane with clearance, when the first overload protection part receives an overload force in the Z-axis direction, due to the action of the inclined plane, the displacement in the vertical direction can be converted into the displacement in the horizontal direction. And the second overload protection part 42 includes symmetric mating surfaces with clearance, and the displacement directions limited by the second overload protection part 42 are perpendicular. The second overload protection part can limit the displacement in the horizontal direction. Furthermore, when the first overload protection part converts at least part of the displacement in the vertical direction into the displacement in the horizontal direction, the second overload protection part can further limit it to ensure the working effect of overload protection. At the same time, the second overload protection part 42 is at least used to limit the displacement in the horizontal direction. When the force sensor receives overload forces in the X and Y axis directions, the second overload protection part can limit the displacement in the horizontal direction. And when the force sensor receives overload torques in the X, Y, and Z axis directions, the symmetric mating surfaces of the second overload protection part 42 can limit the torsional deformation of the force sensor.

[0039] The force sensor 1 includes an outer frame 10, and the outer frame 10 includes a fixing part 11 with an opening. The force sensor 1 is fixedly installed through the opening, and the fixing part 11 extends inward to form a partial overload protection part. The force sensor 1 includes four elastic beams 30 distributed in a cross shape, and the overload protection part is arranged between adjacent elastic beams 30 to make the overload protection effect of the force sensor uniform.

[0040] The force sensor described above has various forms, and the force sensor can be a torque sensor, a three-dimensional force sensor or a six-dimensional force sensor.

[0041] The beneficial effects of the above preferred embodiments are as follows: The overload protection structure of the force sensor includes a mating surface with a gap formed by an external frame and an internal platform 20. The displacement of the force sensor is restricted by the abutting action of the mating surface. The structural design of the force sensor is simple, easy to process, and easy to implement.

[0042] The present invention also provides a robot. Refer Figure 5 , the robot 6 includes a working arm 60 driven by an actuator to perform work. The end of the working arm 60 includes a connector 70 for connecting various task tools. The force sensor 1 described in any one of the above is disposed within the connector 70. The robot controls the execution of work at least partially based on the detection result of the force sensor.

[0043] Specifically, the connector 70 is a tool flange, and the tool flange can connect various task tools, such as grippers, suction cups, etc. Specifically, the robot 6 is an industrial robot. Preferably, the robot is a collaborative robot capable of collaborating with people to perform work, and the collaborative robot can be taught to perform work according to the taught trajectory.

[0044] The above embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent shall be subject to the appended claims.

Claims

1. A force sensor, comprising an outer frame, an inner platform, and a plurality of elastic beams disposed between the outer frame and the inner platform, characterized in that, the force sensor includes a plurality of overload protection portions circumferentially distributed, and the overload protection portion includes a mating surface with a gap formed by an inward extension of a portion of the outer frame and an outward extension of a portion of the inner platform; the plurality of overload protection portions include a first overload protection portion and a second overload protection portion. The first overload protection portion is at least used to limit the displacement of the force sensor in the vertical direction, and the second overload protection portion is at least used to limit the displacement of the force sensor in the horizontal direction. The first overload protection portion includes a mating inclined surface with a gap. The mating surface of the second overload protection portion includes symmetric mating inclined surfaces or mating curved surfaces. The inclination directions of the mating inclined surface of the first overload protection portion and the mating inclined surface of the second overload protection portion are different. The mating surface of the second overload protection portion is perpendicular to the horizontal plane. The plurality of overload protection portions include paired first overload protection portions and paired second overload protection portions to jointly limit the displacement or torsion of the force sensor in different directions. The paired first overload protection portions are symmetric or anti-symmetric with respect to the center of the force sensor, and the paired second overload protection portions are symmetric or anti-symmetric with respect to the center of the force sensor; the mating surface of the second overload protection portion is a top view of an isosceles triangle, an isosceles trapezoid, or a regular hexagon. Strain gauges are pasted on the elastic beams to detect force / moment according to the deformation of the elastic beams. The overload protection portions are disposed between adjacent elastic beams.

2. The force sensor according to claim 1, characterized in that, the first overload protection portion can convert at least part of the displacement in the vertical direction into the displacement in the horizontal direction, and the first overload protection portion and the second overload protection portion act together to limit the displacement of the force sensor in the vertical direction.

3. The force sensor according to claim 1, characterized in that, the mating inclined surface forms an angle with the vertical direction that is neither 90 degrees nor 180 degrees.

4. The force sensor according to claim 1, characterized in that, the first overload protection portion includes a mating stepped surface in the vertical direction.

5. A robot, characterized in that, it includes a working arm driven by an actuator to perform work. The end of the working arm includes a connector for connecting various task tools. The force sensor described in any one of claims 1-4 is disposed in the connector, and the robot controls the execution of work at least partially according to the detection result of the force sensor.

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