force sensor

Abstract

The present application relates to the technical field of force sensor, in particular to a kind of force sensor.The force sensor includes force transmission seat and force sensing arm;The force transmission seat includes radially opposite inner surface and outer surface, and the inner surface is surrounded to form sensing space;The force sensing arm is arranged in the sensing space, and extends along the radial direction of the force transmission seat;Strain sensor is arranged on the force sensing arm;The inner surface of the force transmission seat is formed with recessed groove recessed to the side of the outer surface, and the end of the force sensing arm is inserted into the recessed groove;When the force sensing arm is subjected to force, the force sensing arm can move relative to the force transmission seat.This force sensor can solve the problem that the strain signal output by the strain sensor on the force sensing arm in the related art cannot accurately reflect the force.

Description

Technical Field

[0001] This invention relates to the field of force sensor technology, and specifically to a force sensor. Background Technology

[0002] A force sensor is a device that can sense force signals and convert them into electrical signals according to certain rules.

[0003] However, in the force sensor technology, when subjected to an axial force, the force sensing arm will exert a tensile force at the connection point between itself and the force transmission seat, resulting in tensile stress concentration at this connection point. This tensile stress concentration at the connection point adversely affects the micro-strain of the force sensing arm, causing the strain signal output by the strain sensor on the force sensing arm to not accurately reflect the applied force. Summary of the Invention

[0004] This invention provides a force sensor that can solve the problem in related technologies where the strain signal output by the strain sensor on the force sensing arm cannot accurately reflect the applied force.

[0005] To address the technical problems in the background art, the present invention provides a force sensor, which includes a force transmission base and a force sensing arm;

[0006] The force transmission seat includes an inner surface and an outer surface that are radially opposite each other, and the inner surface surrounds and forms a sensing space;

[0007] The force sensing arm is disposed in the sensing space and extends radially along the force transmission seat; a strain sensor is provided on the force sensing arm.

[0008] A groove is formed on the inner surface of the force transmission seat, which is recessed towards the outer surface, and the end of the force sensing arm is inserted into the groove.

[0009] When the force sensing arm is subjected to a force, the force sensing arm can move relative to the force transmission seat within the groove.

[0010] The force sensor's sensing arm is inserted into the groove. When the force sensing arm is subjected to a force, the force transmission seat simultaneously applies a reaction force to it, causing micro-strain. The direction and magnitude of the force are determined by analyzing this micro-strain signal. When the force sensing arm is subjected to a force, such as an axial force, it can move relative to the force transmission seat, thereby cutting off the tensile force transmission at the connection point. This avoids tensile stress concentration at the connection point and prevents it from adversely affecting the micro-strain of the force sensing arm. This ensures that the strain signal output by the strain sensor on the force sensing arm accurately reflects the applied force.

[0011] Optionally, the sensor further includes a force-receiving rod, one end of which is connected to the force-sensing arm, and the other end of which extends axially along the transmission seat.

[0012] The force-bearing rod is used to bear the force and transmit the force to the force-sensing arm.

[0013] Optionally, the groove includes a concave surface recessed toward one side of the outer surface, the concave surface extending circumferentially along the force transmission seat;

[0014] The concave surface has a first end face and a second end face formed at its two circumferential ends, respectively.

[0015] The first end face, the second end face, and the concave surface surround and form a semi-cylindrical groove.

[0016] Optionally, a first sub-groove is formed at the intersection of the concave surface and the first end face, and a second sub-groove is formed at the intersection of the concave surface and the second end face.

[0017] The first sub-groove and the second sub-groove are recessed from both ends of the concave surface toward one side of the outer surface.

[0018] The concave surface is connected to the first end face and the second end face by the first sub-groove and the second sub-groove of the arc surface that are recessed to one side of the outer surface, respectively, so as to disperse the stress at the intersection of the concave surface and the first end face and the second end face, and avoid the problem of stress concentration at the intersection of the concave surface and the first end face and the second end face.

[0019] Optionally, the end of the force-sensing arm forms a convex structure, which is located in the groove;

[0020] The convex structure is cylindrical, including a circumferential surface and a first side surface and a second side surface located on both sides of the circumferential surface. The circumferential surface protrudes from one side of the outer surface of the force transmission seat.

[0021] The first side of the convex structure is in contact with the first end face of the groove, and the second side of the convex structure is in contact with the second end face of the groove.

[0022] After the force sensing arm and the force transmission seat are assembled, the first and second sides of the convex structure are respectively attached to the first and second end faces of the groove. Thus, when the force sensing arm is subjected to a force in the direction of the first side or the direction of the second side, the force can be transferred to the first or second end face of the groove, so that the first or second end face has a large bearing capacity and prevents stress concentration in the force sensing arm.

[0023] Optionally, the circumferential surface of the convex structure and the concave surface of the groove contact each other in the axial direction of the force transmission seat to form an upper contact point and a lower contact point;

[0024] A gap is formed between the circumferential surface of the convex structure and the concave surface of the groove from the upper contact point to the lower contact point.

[0025] The gap can block the force transmission between the force transmission seat and the force sensing arm, and can prevent stress concentration at the connection point between the force transmission seat and the force sensing arm, so that the strain zone is transferred to the force sensing arm, thereby improving the sensitivity of the force sensing arm to the strain generated in response to the force.

[0026] In addition, when the force sensing arm is subjected to a downward force from the force-bearing rod, the convex structure tends to rotate clockwise relative to the groove. The convex structure applies downward pressure to the lower contact point, but does not apply force to the upper contact point. Thus, the structure cuts off the tensile force transmission between the force sensing arm and the groove to avoid tensile stress concentration at the connection point.

[0027] Optionally, the concave surface includes a concave arc surface, an upper straight surface, and a lower straight surface;

[0028] The concave arc faces the outer surface and is recessed on one side.

[0029] The upper straight surface extends radially inward from the upper end of the opening of the concave arc surface along the force transmission seat.

[0030] The lower straight surface extends radially inward from the lower end of the opening of the concave arc surface along the force transmission seat.

[0031] Optionally, the groove includes an inner concave surface recessed toward one side of the outer surface, the inner concave surface surrounding the groove forming a spherical shape;

[0032] The end of the force-sensing arm forms a convex structure, which is located in the groove;

[0033] The peripheral surface of the convex structure is spherical, matching the concave surface.

[0034] Optionally, the circumferential surface of the convex structure and the concave surface of the groove contact each other in the axial direction of the force transmission seat to form an upper contact point and a lower contact point;

[0035] A gap is formed between the circumferential surface of the convex structure and the concave surface of the groove from the upper contact point to the lower contact point.

[0036] Optionally, the force sensing arm includes an intersecting first sensing cantilever beam and a second sensing cantilever beam;

[0037] The first inductive cantilever beam includes a first cantilever beam extension and a second cantilever beam extension extending in opposite directions;

[0038] The second inductive cantilever beam includes a third cantilever beam extension and a fourth cantilever beam extension extending in opposite directions;

[0039] The intersection of the first cantilever beam extension, the second cantilever beam extension, the third cantilever beam extension, and the fourth cantilever beam extension is connected to one end of the force-bearing rod.

[0040] The force-sensing arm structure can effectively determine the magnitude and direction of the force in the three-dimensional coordinate system.

[0041] The present invention provides a force sensor that can improve the analytical accuracy of applied forces, especially the analytical accuracy of axial applied forces of the force transmission seat. Attached Figure Description

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 A schematic diagram of a force sensor structure provided in the relevant prior art is shown;

[0044] Figure 2 A schematic diagram of a force sensor structure according to an embodiment of the present invention is shown;

[0045] Figure 3 It shows Figure 2 A partial longitudinal sectional view of the embodiment shown;

[0046] Figure 4 It shows Figure 2 A schematic diagram of the exploded structure;

[0047] Figure 5 A schematic diagram of the connection structure between the force sensing arm and the force-receiving rod of the force sensor provided in this embodiment is shown.

[0048] Figure 6 A schematic diagram of the force transmission seat structure of the force sensor in this embodiment is shown;

[0049] Figure 7 A partial axial cross-sectional view of the force transmission seat provided in this embodiment is shown. Detailed Implementation

[0050] The technical solutions of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0051] In the description of this invention, it should be noted that the descriptions of orientation or positional relationships indicated by terms such as "center," "up," "down," "left," "right," "vertical," "horizontal," "inner," and "outer" in this embodiment are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly. Therefore, they should not be construed as limiting the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connection or fixed installation, detachable connection or detachable installation, or integral connection or integral installation; they can refer to mechanical connection or electrical connection, wherein electrical connection can include any one or a combination of power drive connection and communication connection; they can refer to direct connection or direct installation, or indirect connection or indirect installation through an intermediate medium, or internal communication between two components, and can be wireless or wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Figure 1 A schematic diagram of a force sensor structure provided in related technologies is shown. Figure 1 As can be seen from the diagram, the force sensor in the related technology includes a force transmission base 210 and a force sensing arm 220. The force transmission base 210 forms a sensing space 2110, and the force sensing arm 220 is disposed in the sensing space 2110. The end of the force transmission base 210 is connected to the force transmission base 210.

[0055] Since the force transmission seat 210 is connected to the force sensing arm 220, when the force sensing arm 220 is subjected to a force, the force transmission seat 210 also applies a reaction force to the force sensing arm 220, causing the force sensing arm 220 to generate micro-strain. The direction and magnitude of the force are determined by analyzing the micro-strain signal. However, when the force sensing arm 220 is subjected to an axial force, an axial tensile force is formed at the connection point between the force sensing arm 220 and the force transmission seat 210, resulting in tensile stress concentration at the connection point. This tensile stress concentration at the connection point adversely affects the micro-strain of the force sensing arm 220, causing the strain signal output by the strain sensor on the force sensing arm 220 to not accurately reflect the force, and thus making it impossible to accurately analyze the force.

[0056] To improve the analytical accuracy of force, especially the analytical accuracy of axial force of the force transmission seat, this invention provides a force sensor.

[0057] Figure 2 A schematic diagram of a force sensor structure according to an embodiment of the present invention is shown. Figure 2 As can be seen from the image, the force transmission seat 210 includes radial A, circumferential B and axial C.

[0058] The force sensor provided in this embodiment includes a force transmission base 210 and a force sensing arm 220. The force transmission base 210 includes a radially opposing inner surface 211 and an outer surface 212, the inner surface 211 surrounding and forming a sensing space 2110. The force sensing arm 220 is disposed in the sensing space 2110 and extends radially A along the force transmission base 210. A strain sensor is provided on the force sensing arm 220. Figure 2 (Not shown in the diagram), exemplarily, the strain sensor forms a Wheatstone bridge circuit for converting the micro-strain of the sensed force sensing arm 220 into an electrical signal output.

[0059] A groove 250 is formed on the inner surface 211 of the force transmission seat 210, which is recessed toward the outer surface 212, and the end 240 of the force sensing arm 220 is inserted into the groove 250.

[0060] Since the end 240 of the force sensing arm 220 is inserted into the groove 250, when the force sensing arm 220 is subjected to a force, the force transmission seat 210 simultaneously applies a reaction force to the force sensing arm 220, causing the force sensing arm 220 to generate micro-strain. The direction and magnitude of the force are determined by analyzing the micro-strain signal. When the force sensing arm 220 is subjected to a force, for example, when the force sensing arm 220 is subjected to an axial force C, the force sensing arm 220 can move relative to the force transmission seat 210, thereby cutting off the tensile force transmission at the connection position between the force sensing arm 220 and the force transmission seat 210. This avoids the phenomenon of tensile stress concentration at the connection position and prevents the tensile stress concentration at the connection position from adversely affecting the micro-strain of the force sensing arm 220, so that the strain signal output by the strain sensor on the force sensing arm 220 can accurately reflect the force situation.

[0061] For example, refer to Figure 3 It shows Figure 2 A partial longitudinal sectional view of the embodiment shown. Figure 3 As can be seen, when the force sensing arm 220 is subjected to an axially downward force F, the end 240 of the force sensing arm 220 tends to rotate clockwise relative to the groove 250. The force sensing arm 220 generates an axially downward pressure on the lower contact position with the groove 250, but does not generate a force on the upper contact position with the groove 250. Thus, the structure cuts off the tensile force transmission between the force sensing arm 220 and the groove 250, so as to avoid the phenomenon of tensile stress concentration at the connection position.

[0062] Figure 4 It shows Figure 2 A schematic diagram of the explosion structure, from Figure 4 As can be seen, the force transmission seat 210 includes an upper seat 310 and a lower seat 320. The upper part of the groove 250 is formed on the inner surface of the upper seat 310, and the lower part of the groove 250 is formed on the inner surface of the lower seat 320. Both the upper seat 310 and the lower seat 320 include radially opposite inner surfaces 211 and outer surfaces 212. The inner surfaces of the upper seat 310 and the lower seat 320 surround and form a sensing space 2110.

[0063] During assembly, the force sensing arm 220 can be first placed in the sensing space 2110 of the lower seat 320, with the end 240 of the force sensing arm 220 extending into the lower part of the groove 250 of the lower seat 320. The upper seat 310 is then placed on top, with the upper part of the groove 250 of the upper seat 310 pressing against the end 240 of the force sensing arm 220. The lower part of the groove 250 of the lower seat 320 and the upper part of the groove 250 cooperate to form the groove 250. Exemplarily, the lower seat 320 and the upper seat 310 are installed using fasteners.

[0064] Continue to refer to Figure 2 and Figure 4 The force sensor also includes a force-bearing rod 100, one end of which is connected to the force-sensing arm 220, and the other end of which extends along the axial direction C of the force transmission seat 210. The force-bearing rod 100 is used to bear the applied force and transmit the force to the force-sensing arm 220.

[0065] Figure 5 This diagram illustrates the connection structure between the force sensing arm and the force-receiving rod of the force sensor provided in this embodiment. Figure 5 As can be seen, the force-sensing arm 220 includes an intersecting first sensing cantilever beam 221 and a second sensing cantilever beam 222. One end of the force-bearing rod 100 is connected to the intersection of the first sensing cantilever beam 221 and the second sensing cantilever beam 222, and the other end of the force-bearing rod 100 extends along the axial direction C of the transmission seat 210. The extension directions of the first sensing cantilever beam 221, the second sensing cantilever beam 222, and the force-bearing rod 100 respectively form the X-axis, Y-axis, and Z-axis of a three-dimensional coordinate system. Optionally, the first sensing cantilever beam 221 and the second sensing cantilever beam 222 are perpendicular to each other. Thus, the extension directions of the first sensing cantilever beam 221, the second sensing cantilever beam 222, and the force-bearing rod 100 form a three-dimensional rectangular coordinate system.

[0066] For example, such as Figure 5 As shown, the first inductive cantilever beam 221 includes a first cantilever beam extension and a second cantilever beam extension extending in opposite directions. In this embodiment, the first cantilever beam extension extends along the positive X-axis of the three-dimensional coordinate system, and the second cantilever beam extension extends along the negative X-axis of the three-dimensional coordinate system. The second inductive cantilever beam 222 includes a third cantilever beam extension and a fourth cantilever beam extension extending in opposite directions. In this embodiment, the third cantilever beam extension extends along the positive Y-axis of the three-dimensional coordinate system, and the fourth cantilever beam extension extends along the negative Y-axis of the three-dimensional coordinate system. The intersection of the first cantilever beam extension, the second cantilever beam extension, the third cantilever beam extension, and the fourth cantilever beam extension connects to one end of the force-bearing rod 100. In this embodiment, the intersection is the origin of the three-dimensional coordinate system.

[0067] At least one strain sensor is provided on each of the first, second, third, and fourth cantilever beam extensions to acquire the micro-strain signals of the corresponding cantilever beam extension.

[0068] Figure 5 The force sensing arm 220 structure shown can effectively determine the magnitude and direction of the force in the three-dimensional coordinate system.

[0069] For example, strain sensor a is provided on the first cantilever beam extension, strain sensor b is provided on the second cantilever beam extension, strain sensor c is provided on the third cantilever beam extension, and strain sensor d is provided on the fourth cantilever beam extension.

[0070] When subjected to a force in the positive X-axis direction, the stress signal of strain sensor a increases, the stress signal of strain sensor b decreases, and the stress signals of strain sensors c and d remain unchanged.

[0071] When subjected to a force in the negative X-axis direction, the stress signal of strain sensor a decreases, the stress signal of strain sensor b increases, and the stress signals of strain sensors c and d remain unchanged.

[0072] When subjected to a force in the positive Y-axis direction, the stress signal of strain sensor c increases, the stress signal of strain sensor d decreases, and the stress signals of strain sensors a and b remain unchanged.

[0073] When subjected to a force in the negative Y-axis direction, the stress signal of strain sensor c decreases, the stress signal of strain sensor d increases, and the stress signals of strain sensors a and b remain unchanged.

[0074] When subjected to a force in the positive Z-axis direction, the stress signals of strain sensors a, b, c, and d all increase.

[0075] When subjected to a force in the negative Z-axis direction, the stress signals of strain sensors a, b, c, and d all decrease.

[0076] Figure 6 This diagram shows a schematic of the force transmission seat structure of the force sensor in this embodiment. Figure 6 As can be seen, the force transmission seat 210 has a groove 250, which includes an inner concave surface 253 recessed towards one side of the outer surface 212. The inner concave surface 253 extends circumferentially along the force transmission seat 210. A first end face 251 and a second end face 252 are formed at the two circumferential ends of the inner concave surface 253, respectively. The first end face 251, the second end face 252 and the inner concave surface 253 surround and form a semi-cylindrical groove 250.

[0077] Continue to refer to Figure 6A first sub-groove 254 is formed at the intersection of the concave surface 253 and the first end face 251, and a second sub-groove 255 is formed at the intersection of the concave surface 253 and the second end face 252. The first sub-groove 254 and the second sub-groove 255 are respectively recessed from both ends of the concave surface 253 towards the outer surface 212, and both are arc surfaces. The concave surface 253 is connected to the first end face 251 and the second end face 252 respectively through the arc-shaped first sub-groove 254 and arc-shaped second sub-groove 255, thereby dispersing the stress at the intersection of the concave surface 253 and the first end face 251 and the second end face 252, and avoiding stress concentration at this intersection.

[0078] Continue to refer to Figure 4 and Figure 5 The end 240 of the force-sensing arm 220 forms a convex structure located in the groove 250. The convex structure is cylindrical and includes a circumferential surface 243 and a first side surface 241 and a second side surface 242 located on both sides of the circumferential surface 243. After the force-sensing arm 220 is assembled into the force transmission seat 210, the circumferential surface 243 of the convex structure of the force-sensing arm 220 protrudes towards the outer surface 212 of the force transmission seat 210. The first side surface 241 of the convex structure fits against the first end face 251 of the groove 250, and the second side surface 242 of the convex structure fits against the second end face 252 of the groove.

[0079] After the force sensing arm 220 and the force transmission seat 210 are assembled, the first side 241 and the second side 242 of the convex structure are respectively attached to the first end face 251 and the second end face 252 of the groove 250. Thus, when the force sensing arm 220 is subjected to a force in the direction of the first side 241 or the direction of the second side 242, the force can be transferred to the first end face 251 or the second end face 252 of the groove 250, so that the first end face 251 or the second end face 252 has a large bearing capacity, preventing stress concentration in the force sensing arm 220.

[0080] Continue to refer to Figure 6The circumferential surface 243 of the convex structure and the concave surface 253 of the groove 250 contact each other axially on the force transmission seat 210 to form an upper contact point 310 and a lower contact point 320. From the upper contact point 310 to the lower contact point 320, a gap 230 is formed between the circumferential surface 243 of the convex structure and the concave surface 253 of the groove 250. This gap 230 can block the force transmission between the force transmission seat 210 and the force sensing arm 220, and can avoid stress concentration at the connection position of the force transmission seat 210 and the force sensing arm 220, so that the strain zone is transferred to the force sensing arm 220, thereby improving the sensitivity of the force sensing arm 220 to strain in response to the applied force.

[0081] When the force sensing arm 220 is subjected to a downward force F from the force-bearing rod on its right side, the convex structure 240 tends to rotate clockwise relative to the groove 250. The convex structure applies downward pressure to the lower contact point 320, while the convex structure 240 does not apply force to the upper contact point 310. Thus, the gap 230 structure further cuts off the force transmission between the force sensing arm 220 and the force transmission seat 210, preventing stress concentration at the connection point between the force sensing arm 220 and the force transmission seat 210. This allows the strain position to be located more on the force sensing arm 220, thereby improving the sensitivity of the micro-strain response of the force sensing arm 220.

[0082] Figure 7 This diagram shows a partial axial cross-sectional view of the force transmission seat provided in this embodiment. Figure 7 As can be seen, the concave surface 253 includes a concave arc surface 2531, an upper straight surface 2532, and a lower straight surface 2533. The concave arc surface 2531 is recessed towards the outer surface 212; the upper straight surface 2532 extends radially inward from the upper end of the opening of the concave arc surface 2531 along the force transmission seat 210. The lower straight surface 2533 extends radially inward from the lower end of the opening of the concave arc surface 2531 along the force transmission seat 210.

[0083] Force sensing arm 220 at Figure 7 After the force transmission seat 210 shown is assembled, the circumferential surface 243 of the force sensing arm 220 contacts the upper straight surface 2532 to form an upper contact point 310, and contacts the lower straight surface 2533 to form a lower contact point 320. A gap 230 is formed between the circumferential surface 243 and the concave arc surface 2531. That is, by way of example, the distance between the upper straight surface 2532 and the lower straight surface 2533 is equal to the axial diameter of the convex structure of the force sensing arm 220.

[0084] The structure of the upper straight surface 2532 and the lower straight surface 2533 allows the force sensing arm 220 to generate a certain radial displacement, so as to control the constraint direction of the concave surface 253 on the force sensing arm 220, so that only positive pressure (i.e. support force on the end 240 of the force sensing arm 220) and small frictional force can be generated at the contact point, and torsional constraint that reduces strain sensing cannot be generated on the force sensing arm 220.

[0085] In other embodiments, a spherical revolute joint can also be formed between the groove 250 of the force transmission seat 210 and the convex structure of the force transmission seat 210. That is, the groove 250 of the force transmission seat 210 includes an inner concave surface 253 recessed toward one side of the outer surface 212 of the force transmission seat 210, and the inner concave surface 253 surrounds and forms a spherical groove; the end of the force sensing arm 220 forms a convex structure, and the convex structure is located in the groove; the peripheral surface of the convex structure is spherical and matches the inner concave surface.

[0086] The circumferential surface of the convex structure and the concave surface of the groove contact each other axially in the force transmission seat to form an upper contact point and a lower contact point; a gap is formed between the circumferential surface of the convex structure and the concave surface of the groove from the upper contact point to the lower contact point. Figures 2 to 7 Similar to the illustrated embodiment, the gap structure cuts off the force transmission between the force sensing arm and the force transmission seat, preventing stress concentration at the connection point between the force sensing arm and the force transmission seat. This allows the strain location to be more largely located on the force sensing arm, thereby improving the sensitivity of the force sensing arm's micro-strain response.

[0087] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A force sensor, characterized in that, Includes a force transmission base and a force sensing arm; The force transmission seat includes an inner surface and an outer surface that are radially opposite each other, and the inner surface surrounds and forms a sensing space; The force sensing arm is disposed in the sensing space and extends radially along the force transmission seat; a strain sensor is provided on the force sensing arm. A groove is formed on the inner surface of the force transmission seat, which is recessed towards the outer surface, and the end of the force sensing arm is inserted into the groove. When the force sensing arm is subjected to a force, the force sensing arm can move relative to the force transmission seat within the groove; The groove includes an inner concave surface recessed toward one side of the outer surface, the inner concave surface extending circumferentially along the force transmission seat; The concave surface has a first end face and a second end face formed at its two circumferential ends, respectively. The first end face, the second end face, and the concave surface surround and form a semi-cylindrical groove.

2. The force sensor as described in claim 1, characterized in that, The force sensor also includes a force-receiving rod, one end of which is connected to the force-sensing arm, and the other end of which extends axially along the transmission seat.

3. The force sensor as described in claim 1, characterized in that, The concave surface and the first end face form a first sub-groove, and the concave surface and the second end face form a second sub-groove. The first sub-groove and the second sub-groove are recessed from both ends of the concave surface toward one side of the outer surface.

4. The force sensor as described in claim 3, characterized in that, The end of the force-sensing arm forms a convex structure, which is located in the groove; The convex structure is cylindrical, including a circumferential surface and a first side surface and a second side surface located on both sides of the circumferential surface. The circumferential surface protrudes from one side of the outer surface of the force transmission seat. The first side of the convex structure is in contact with the first end face of the groove, and the second side of the convex structure is in contact with the second end face of the groove.

5. The force sensor as described in claim 4, characterized in that, The circumferential surface of the convex structure and the concave surface of the groove contact each other in the axial direction of the force transmission seat to form an upper contact point and a lower contact point. A gap is formed between the circumferential surface of the convex structure and the concave surface of the groove from the upper contact point to the lower contact point.

6. The force sensor as described in claim 1, characterized in that, The concave surface includes a concave arc surface, an upper straight surface, and a lower straight surface; The concave arc faces the outer surface of the force transmission seat and is recessed; The upper straight surface extends radially inward from the upper end of the opening of the concave arc surface along the force transmission seat. The lower straight surface extends radially inward from the lower end of the opening of the concave arc surface along the force transmission seat.

7. The force sensor as described in claim 1, characterized in that, The groove includes an inner concave surface recessed towards one side of the outer surface, and the inner concave surface surrounds and forms a spherical groove; The end of the force-sensing arm forms a convex structure, which is located in the groove; The peripheral surface of the convex structure is spherical, matching the concave surface.

8. The force sensor as described in claim 7, characterized in that, The circumferential surface of the convex structure and the concave surface of the groove contact each other in the axial direction of the force transmission seat to form an upper contact point and a lower contact point. A gap is formed between the circumferential surface of the convex structure and the concave surface of the groove from the upper contact point to the lower contact point.

9. The force sensor as described in claim 2, characterized in that, The force sensing arm includes an intersecting first sensing cantilever beam and a second sensing cantilever beam. The first inductive cantilever beam includes a first cantilever beam extension and a second cantilever beam extension extending in opposite directions; The second inductive cantilever beam includes a third cantilever beam extension and a fourth cantilever beam extension extending in opposite directions; The intersection of the first cantilever beam extension, the second cantilever beam extension, the third cantilever beam extension, and the fourth cantilever beam extension is connected to one end of the force-bearing rod.

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