Integral matrix type force transducer

Abstract

The invention discloses an integral matrix type force transducer which is mainly composed of a lower plate, eight middle elastic body structures at the top end of the lower plate and an upper plate above the middle elastic body structures, matrix type distribution is adopted, and the eight middle elastic body structures which are evenly distributed are arranged to serve as supporting legs to serve as sensitive bodies. When the upper plate directly bears impact force, the upper plate extrudes the middle elastic body structure, the middle elastic body structure is promoted to be stressed and deformed, the sensor can measure the force according to the deformation quantity of the middle elastic body, the integrated design is adopted, and the elastic body structure is small in coupling error, simple in structure, capable of resisting impact and easy to manufacture. The system can work in a complex environment in the nuclear power field for a long time, and can also replace different types of sensors according to different application scenes.

Description

Technical Field

[0001] The present application relates to the technical field of force sensors, and in particular to an integral matrix force sensor. Background Art

[0002] Impact force is one of the important physical quantities that describes the state of motion of an object, and reflects the magnitude of the force generated by the object during the collision. In the field of sensors, impact force is a dynamic force, that is, a force that changes over time. Accurately measuring impact force is of great significance for improving product design. The existing force sensors for measuring impact force are single sensors with small size and cannot measure the impact force of larger equipment. The current mainstream matrix force sensors are static or quasi-static, with a low response frequency, and are not suitable for measuring the impact force of large equipment in the nuclear power field.

[0003] According to the measurement principle, the overall matrix force sensor can be divided into resistance strain type, piezoelectric type, capacitive type and optical type. Different types of sensors can be installed on the elastic structure to obtain mechanical signals. Among them, the resistance sensor uses the principle of strain-resistance effect for measurement; the piezoelectric sensor uses the principle of piezoelectric effect of piezoelectric materials for measurement; the capacitive sensor is to set up multiple pairs of capacitors and realize the measurement by the change of the relative gap between the electrode sheets; the optical sensor is to realize the measurement through optical fiber sensing technology.

[0004] Therefore, the core of the overall matrix force sensor is the elastomeric structure. The ideal elastomeric structure requires small coupling error, simple structure, impact resistance and easy manufacturing, so that different types of sensors can be installed according to different application scenarios, such as optical fiber Fabry-Perot strain sensor, resistance strain gauge, fiber Bragg grating strain sensor, etc. Summary of the invention

[0005] The present application proposes an integral matrix force sensor, which has a matrix-distributed intermediate elastic body structure that receives impact force and deforms. The integrated intermediate elastic body structure has the advantages of small coupling error, simple structure, impact resistance and easy manufacturing. An overload protection device is used to avoid overload damage to the intermediate elastic body structure, so as to solve the problem of poor impact resistance of existing force sensors.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: an integral matrix force sensor, comprising a lower plate, wherein evenly distributed support holes are opened on both sides of the long side of the top end of the lower plate, and eight intermediate elastic body structures are arranged on the top end of the lower plate for receiving impact force and deforming, and a rectangular upper plate is arranged on the top end of the intermediate elastic body structure for directly receiving impact; the eight intermediate elastic body structures are combined into an integral elastic body, and four spaced slits distributed at ninety degrees are opened on the side wall of the integral elastic body, and separation slits are opened at the side corners of the integral elastic body, and sensors are arranged in the spaced slits and the separation slits for receiving signals of deformation of the intermediate elastic body structures.

[0007] Furthermore, a positioning column is provided in the support hole, a support ring is provided at the bottom end of the lower plate, and an overload protection device is provided below the lower plate. The overload protection device includes a transformer seat, a bottom sealing plate provided at the bottom end of the transformer seat for closing the bottom end of the transformer seat, and a sliding device for receiving overload force.

[0008] Furthermore, the sliding device includes a cross limit frame at the top, a sliding rod connected to the side of the bottom end of the four long sides of the cross limit frame away from the center, a connecting plate connected to the bottom end of the sliding rod, and a plunger connected to the end of the connecting plate away from the sliding rod, which is used to receive overload force and adjust the position of the overall matrix force sensor.

[0009] Furthermore, the four long sides of the cross limit frame are respectively inserted into four spacing gaps, and the cross limit frame is located below the upper plate. There is a gap between the cross limit frame and the upper plate for direct contact when the upper plate moves downward excessively.

[0010] Furthermore, the transformer seat and the bottom sealing plate are both provided with evenly distributed positioning holes, the bottom of the positioning column is inserted into the positioning hole, the top of the transformer seat is provided with an annular hydraulic ring groove, the bottom of the support ring is inserted into the hydraulic ring groove, the side wall of the support ring is fitted with the side wall of the hydraulic ring groove, the bottom of the hydraulic ring groove is filled with hydraulic oil, the bottom end of the support ring is fitted with the liquid level of the hydraulic oil in the hydraulic ring groove, which is used to limit the position of the lower plate, and there is a gap between the bottom end of the lower plate and the top of the transformer seat, which is used to provide space for buffering when the lower plate moves downward.

[0011] Furthermore, the transformer seat is provided with four sliding holes evenly distributed around the circumference and four adjusting holes evenly distributed around the circumference, the sliding rod is movably sleeved in the sliding hole to limit the movement direction of the sliding rod, the plunger is movably sleeved in the adjusting hole to limit the movement direction of the plunger, a connecting hole I is provided on the bottom side wall of the sliding hole to connect with the adjusting hole, and the connecting plate is movably sleeved in the connecting hole I to limit the movement distance of the connecting plate.

[0012] Furthermore, a spring I is provided between the bottom end of the slide rod and the bottom sealing plate, and a spring II is provided between the bottom end of the plunger and the bottom sealing plate, for driving the slide device to reset.

[0013] Furthermore, a connecting hole II is opened on the top side wall of the adjusting hole and connected to the bottom of the hydraulic ring groove for bidirectional flow of the hydraulic oil in the hydraulic ring groove. The side wall of the plunger is in contact with the side wall of the adjusting hole, and the plunger closes the connecting hole II through the top side wall to limit the flow state of the hydraulic oil in the hydraulic ring groove.

[0014] Furthermore, a center rod is provided at the top of the adjusting hole, an annular necking groove is provided at the bottom of the center rod, a liquid capsule I is provided at the notch of the necking groove, and a liquid capsule II is provided at the top of the center rod for changing the size of the space at the top of the adjusting hole, an infusion cavity is provided in the center rod, a drainage hole I is provided at the bottom of the infusion cavity and connected to the necking groove, and a drainage hole II is provided at the top of the infusion cavity and connected to the liquid capsule II for transporting the hydraulic oil in the necking groove, the infusion cavity and the liquid capsule II.

[0015] Furthermore, a wrapping hole is provided in the center of the plunger which passes through the wrapping hole from top to bottom, and the bottom end of the center rod passes through the wrapping hole. The diameter of the center rod is the same as the inner diameter of the wrapping hole, which is used to squeeze and release the liquid capsule I.

[0016] The present application provides an integral matrix force sensor, which adopts a matrix distribution and sets eight evenly distributed intermediate elastic structures to act as supporting legs as sensitive bodies. When the upper plate directly bears the impact force, the upper plate will squeeze the intermediate elastic structure, causing the intermediate elastic structure to deform under force, so that the sensor can measure the magnitude of the force according to the deformation of the intermediate elastic body. It adopts an integrated design, in which the intermediate elastic structure has a small coupling error, a simple structure, is impact-resistant and easy to manufacture. It can not only work for a long time in the complex environment of the nuclear power field, but also can be replaced by different types of sensors according to different application scenarios.

[0017] At the same time, by arranging a cross limit frame between the evenly distributed intermediate elastic body structures, when the impact force is overloaded, the downward pressure of the upper plate increases, and the deformation of the intermediate elastic body structure increases. At this time, the bottom end of the upper plate will be squeezed on the cross limit frame, pushing the slide rod to drive the plunger to move downward, so that the connecting hole II opens. At this time, the entire matrix force sensor will move downward due to the impact force and the deformation reset of the intermediate elastic body structure, so that the support ring pushes the hydraulic oil in the hydraulic ring groove into the adjusting hole through the connecting hole II. The overload impact force is buffered by the downward movement of the entire matrix force sensor to avoid overload damage to the intermediate elastic body structure.

[0018] At the same time, through the downward movement of the plunger, the inner wall of the wrapping hole in the plunger squeezes the liquid capsule I, and the hydraulic oil in the liquid capsule I is pressed into the liquid capsule II, so that the liquid capsule II expands. When the plunger moves downward and the wrapping hole completely surrounds the liquid capsule I, the connecting hole II will be opened. At this time, the hydraulic oil in the hydraulic ring groove can enter the adjusting hole for buffering adjustment. When the impact force is removed, the compressed spring I and spring II will push the slide bar and the plunger to move upward, and the hydraulic oil in the adjusting hole will be pressed back into the hydraulic ring groove through the connecting hole II through the plunger, pushing the entire matrix force sensor to move up and reset to complete self-adjustment. It should be noted that after the plunger moves up and closes the connecting hole II, the liquid capsule I will gradually be exposed. At this time, the plunger continues to move upward, which will cause the hydraulic oil still remaining in the adjusting hole to squeeze the hydraulic oil in the liquid capsule II back to the liquid capsule I which is gradually losing the restriction, thereby ensuring that the plunger can move upward sufficiently to complete the closing of the connecting hole II. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which constitute a part of the specification, illustrate embodiments disclosed in the present application and, together with the description, serve to explain the principles disclosed in the present application.

[0020] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0021] Figure 1 It is a structural schematic diagram of the first embodiment of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the second embodiment of the present invention;

[0023] Figure 3 It is a schematic diagram of the structural position of the cross limit frame of the present invention;

[0024] Figure 4 This is a schematic diagram of the transformer base of the present invention;

[0025] Figure 5 This is a schematic diagram of the interior of the transformer base of the present invention;

[0026] Figure 6 This is a schematic diagram of the internal structure distribution of the transformer base of the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of the sliding device of the present invention;

[0028] Figure 8 This is a schematic diagram of the central rod structure of the present invention;

[0029] Fig. 9 For the present invention Figure 8 A partial enlarged schematic diagram of the structure at point A in the middle.

[0030] Among them: 1. lower plate; 2. support hole; 3. middle elastic body structure; 31. spacing seam; 32. separation seam; 4. upper plate; 5. positioning column; 6. support ring; 7. transformer seat; 71. bottom sealing plate; 8. positioning hole; 9. hydraulic ring groove; 10. sliding hole; 11. adjustment hole; 12. connecting hole I; 13. connecting hole II; 14. cross limit frame; 15. sliding rod; 16. connecting plate; 17. plunger; 171. wrapping hole; 18. spring I; 19. spring II; 20. center rod; 21. necking groove; 22. infusion cavity; 23. liquid capsule I; 24. liquid capsule II; 25. drainage hole I; 26. drainage hole II. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] Embodiment 1

[0033] See also Figure 1 An integral matrix force sensor comprises a rectangular lower plate 1, and evenly distributed support holes 2 are opened on both sides of the long sides of the top of the lower plate 1. The lower plate 1 provides support force for the entire integral matrix force sensor, so that the impact force can directly act on the upper plate 4. At this time, the upper plate 4 will squeeze the middle elastic structure 3 under the drive of the impact force, so that the middle elastic structure 3 undergoes corresponding force deformation, and cooperates with the sensor to complete the force measurement.

[0034] See also Figures 1 to 3 The eight intermediate elastic body structures 3 are combined into an integral elastic body. The outer side of the integral elastic body is rectangular and the inner side is circular. Four spacing slits 31 distributed at ninety degrees are opened on the side wall of the integral elastic body. Separation slits 32 are opened at the four side corners of the integral elastic body, so that the eight intermediate elastic body structures 3 can have enough space to deform when subjected to force. The existing sensors can be fixedly installed in the spacing slits 31 or the separation slits 32 as needed, so that when the intermediate elastic body structure is deformed, the changes caused by the deformation can be transmitted to the sensor, so that the sensor obtains a signal for force measurement.

[0035] A protective shell can be fixedly installed on the outer side of the integral elastic body, and a wire hole is provided on the shell for leading out the sensor wire.

[0036] Embodiment 2

[0037] See also Figure 3On the basis of the first embodiment, a positioning column 5 is fixedly sleeved in the support hole 2, a support ring 6 is fixedly welded to the bottom end of the lower plate 1, and an overload protection device is provided below the lower plate 1.

[0038] See also Figure 2 The overload protection device includes a transformer seat 7, a bottom sealing plate 71 fixed at the bottom end of the transformer seat 7 for closing the bottom end of the transformer seat 7, and a sliding device for receiving overload force. By disassembling and installing the bottom sealing plate 71, the installation and disassembly of the internal device of the transformer seat 7 can be facilitated.

[0039] See also Figure 3 to Figure 4 , Figure 6 to Figure 7 The sliding device includes a cross limit frame 14 at the top, a slide rod 15 fixedly connected to the side of the bottom end of the four long sides of the cross limit frame 14 away from the center, a connecting plate 16 fixedly connected to the bottom end of the slide rod 15, and a plunger 17 fixedly connected to the end of the connecting plate 16 away from the slide rod 15, so that when the overload device moves up and down, the cross limit frame 14, the slide rod 15, the connecting plate 16 and the plunger 17 can always move synchronously.

[0040] See also Figure 3 , the four long sides of the cross limit frame 14 are respectively inserted into the four spacing gaps 31, and the cross limit frame 14 is located below the upper plate 4, so that the upper plate 4 can contact the cross limit frame 14 when it moves downward under the impact force, and the overload protection device is squeezed to move downward. There is a gap between the cross limit frame 14 and the upper plate 4, so that the upper plate 4 will not directly contact the cross limit frame 14 after being subjected to the impact force, providing sufficient deformation time and deformation degree for the intermediate elastic body structure 3, and providing the necessary conditions for the deformation of the intermediate elastic body structure 3 for the sensor to measure the force. The size of the gap is adjusted according to actual needs. It should be noted that the gap size is smaller than the compression value of the intermediate elastic body structure 3 that will be overloaded and deformed, so that when the impact force is too large and there is a possibility of destroying the existence of the intermediate elastic body structure 3, when the upper plate 4 moves to squeeze the cross limit frame 14, the deformation of the intermediate elastic body structure 3 has not reached the deformation of overload failure. At this time, when the cross limit frame 14 is forced to move downward to complete the subsequent buffering action of the overall matrix force sensor, the intermediate elastic body structure 3 can still be safely deformed.

[0041] See also Figures 3 to 6, uniformly distributed positioning holes 8 are provided on the transformer seat 7 and the bottom sealing plate 71, the bottom of the positioning column 5 is inserted into the positioning hole 8, the diameter value of the positioning column 5 is the same as the inner diameter value of the positioning hole 8, so that the positioning hole 8 limits the position of the positioning column 5, thereby limiting the lower plate 1 to only move up and down, and the top of the transformer seat 7 is provided with an annular hydraulic ring groove 9, the bottom of the hydraulic ring groove 9 is filled with hydraulic oil, the bottom of the support ring 6 is inserted into the hydraulic ring groove 9, the side wall of the support ring 6 is fitted with the side wall of the hydraulic ring groove 9, and a sealing rubber ring is provided on the side wall of the support ring 6 to prevent leakage of hydraulic oil, and the support ring 6 The bottom end is in contact with the liquid surface of the hydraulic oil in the hydraulic ring groove 9, so that after the support ring 6 is inserted into the hydraulic ring groove 9, the hydraulic oil is enclosed in the space between the bottom end of the support ring 6 and the bottom of the hydraulic ring groove 9, forming a "solid" state with the support ring 6, hindering the downward movement of the support ring 6 and keeping the position of the lower plate 1 unchanged. There is a gap between the bottom end of the lower plate 1 and the top end of the transformer seat 7, so that when the upper plate 4 receives excessive impact force and needs the lower plate 1 to drive the intermediate elastic structure 3 and the upper plate 4 to move downward for buffering, there is a gap between the bottom end of the lower plate 1 and the top end of the transformer seat 7 to ensure that there is enough space for buffering movement.

[0042] See also Figures 5 and 6 Four sliding holes 10 and four adjusting holes 11 evenly distributed around the circumference are provided in the transformer seat 7. The adjusting hole 11 is located between the sliding hole 10 and the hydraulic ring groove 9. A connecting hole Ⅰ12 is provided on the bottom side wall of the sliding hole 10 to connect with the adjusting hole 11. A connecting hole Ⅱ13 is provided on the top side wall of the adjusting hole 11 to connect with the bottom of the hydraulic ring groove 9, so that the lower plate 1 can squeeze the hydraulic oil in the hydraulic ring groove 9 through the support ring 6 during the downward movement, and enter the adjusting hole 11 through the opened connecting hole Ⅱ13. At this time, the hydraulic oil in the hydraulic ring groove 9 can move, providing the possibility for the lower plate 1 to move downward. When the overload impact force is removed, the upward movement and reset of the plunger 17 can return the excess hydraulic oil in the adjusting hole 11 to the hydraulic ring groove 9 through the opened connecting hole Ⅱ13, thereby pushing the lower plate 1 to lift and reset.

[0043] See also Figure 6The sliding rod 15 is movably sleeved in the sliding hole 10, so that the sliding hole 10 can limit the position of the sliding rod 15, so that the cross limit frame 14 can drive the sliding rod 15 to move vertically downward in the sliding hole 10 when receiving the downward pressure of the upper plate 4. When the cross limit frame 14 needs to move up and reset, the vertical rising action of the sliding rod 15 can also be limited by the sliding hole 10. The connecting plate 16 is movably sleeved in the connecting hole Ⅰ12. The height value of the connecting hole Ⅰ12 is greater than the thickness value of the connecting plate 16, so that when the sliding rod 15 moves downward, it can drive the connecting plate 16 to move synchronously. At this time, the extra space of the connecting hole Ⅰ12 can provide enough space for the connecting plate 16 to move, and the distance of the connecting plate 16 moving up or down is limited to avoid the cross limit frame 14 and the plunger 17 moving up and down The distance exceeds the set value, and the cross limit frame 14 contacts the upper plate 4 or the plunger 17 in advance. The problem of being unable to correctly close the connecting hole Ⅱ13, etc., the bottom end of the slide bar 15 is fixedly connected with a spring Ⅰ18, and the bottom end of the spring Ⅰ18 is fixedly connected to the top of the bottom sealing plate 71, so that the slide bar 15 can squeeze the spring Ⅰ18 for compression during the downward movement, and when the cross limit frame 14 loses the pressure from above, the compressed spring Ⅰ18 can push the slide bar 15 and the cross limit frame 14 to move upward, and the plunger 17 is movably sleeved in the adjusting hole 11, and the side wall of the plunger 17 is in contact with the side wall of the adjusting hole 11. A sealing rubber ring is provided on the side wall of the plunger 17. Under normal conditions, the plunger 17 closes the connecting hole Ⅱ13 through the side wall, so that before the upper plate 4 receives the overload impact force, the plunger 17 can close the connecting hole Ⅱ13, so that the hydraulic oil in the hydraulic ring groove 9 has no space to flow, and forms a "solid" state with the support ring 6, thereby limiting the position of the entire matrix force sensor.

[0044] See also Figure 6 The bottom end of the plunger 17 is fixedly connected with a spring Ⅱ19, and the bottom end of the spring Ⅱ19 is fixedly connected to the top end of the bottom sealing plate 71, so that the plunger 17 can compress the spring Ⅱ19 during the downward movement. At this time, the plunger 17 opens the connecting hole Ⅱ13, so that the hydraulic oil in the hydraulic ring groove 9 enters the space above the adjusting hole 11 through the connecting hole Ⅱ13. At this time, the hydraulic oil entering exerts a downward squeezing force on the plunger 17. When the plunger 17 needs to move up, the compressed spring Ⅱ19 will cooperate with the compressed spring Ⅰ18 to push the plunger 17 up, so that the plunger 17 presses the hydraulic oil above back into the hydraulic ring groove 9 through the connecting hole Ⅱ13.

[0045] Embodiment 3

[0046] See also Figures 6 to 9On the basis of the second embodiment, the top of the adjusting hole 11 is fixedly connected with a center rod 20, and a wrapping hole 171 penetrating up and down is opened at the center of the plunger 17. The bottom end of the center rod 20 passes through the wrapping hole 171 and contacts with the top of the bottom sealing plate 71. The diameter of the center rod 20 is the same as the inner diameter of the wrapping hole 171. A sealing rubber ring is provided on the inner wall of the wrapping hole 171, so that when the plunger 17 moves up and down on the center rod 20, there will be no leakage of hydraulic oil.

[0047] See also Figures 6 to 9 The bottom of the center rod 20 is provided with an annular necking groove 21, the notch of the necking groove 21 is fixedly connected with a liquid capsule I 23, the top of the center rod 20 is fixedly sleeved with a liquid capsule II 24, an infusion cavity 22 is provided in the center rod 20, a drainage hole I 25 is provided at the bottom of the infusion cavity 22 and is connected to the necking groove 21, a drainage hole II 26 is provided at the top of the infusion cavity 22 and is connected to the liquid capsule II 24, the necking groove 21, the infusion cavity 22 and the liquid capsule II 24 are filled with hydraulic oil, the liquid capsule I 23 is located below the plunger 17, and the hole 17 is wrapped around the liquid capsule II 24. 1 is provided with an arc surface at the bottom opening, so that when the plunger 17 moves downward and increases the space between the plunger 17 and the top of the regulating hole 11, the liquid capsule I 23 can be squeezed through the wrapping hole 171, and the hydraulic oil in the liquid capsule I 23 is pressed into the infusion cavity 22 through the discharge hole I 25, and then pressed into the liquid capsule II 24 through the discharge hole II 26. At this time, the liquid capsule II 24 expands, and the liquid capsule I 23 is pressed into the wrapping hole 171. When the liquid capsule II 24 is completely pressed into the wrapping hole 171, the downward movement of the plunger 17 will open the connecting hole II 13, At this time, the hydraulic oil in the hydraulic ring groove 9 will be pressed into the space between the plunger 17 and the top of the adjusting hole 11. The input hydraulic oil exerts downward pressure on the plunger 17 and squeezes the liquid capsule II 24. Since the liquid capsule I 23 is completely wrapped by the wrapping hole 171, the ability of the liquid capsule II 24 to be squeezed and compressed by the outer hydraulic oil becomes weak, which will only cause the hydraulic oil in the liquid capsule II 24 to transfer the pressure to the liquid capsule I 23, increase the pressure on the inner wall of the wrapping hole 171 squeezed by the liquid capsule I 23, and increase the friction. When the plunger 17 moves upward, the hydraulic oil above will be pushed back into the hydraulic ring groove 9. After the plunger 17 closes the connecting hole II 13, the plunger 17 still needs to move upward to prevent the hydraulic oil in the hydraulic ring groove 9 from communicating with the hydraulic oil in the adjusting hole 11. At this time, when the plunger 17 moves upward, the hydraulic oil in the adjusting hole 11 will squeeze the liquid capsule II 24, and the liquid capsule I 23 has been gradually released by the plunger 17, so that the liquid capsule II 24 is compressed, and the hydraulic oil in the liquid capsule II 24 is pressed back into the liquid capsule I 23, providing sufficient space for the plunger 17 to continue to move upward.

Claims

1. An integral matrix force sensor, characterized in that: The invention comprises a lower plate (1), wherein both sides of the long sides of the top of the lower plate (1) are provided with evenly distributed support holes (2), the top of the lower plate (1) is provided with eight intermediate elastic structures (3) for receiving impact force to deform, and the top of the intermediate elastic structure (3) is provided with a rectangular upper plate (4) for directly receiving impact; The eight intermediate elastic body structures (3) are combined into an integral elastic body, and the side wall of the integral elastic body is provided with four spacing slits (31) distributed at 90 degrees, and the side corners of the integral elastic body are all provided with separation slits (32), and sensors are arranged in the spacing slits (31) and the separation slits (32) for receiving deformation signals of the intermediate elastic body structure (3).

2. An integral matrix force sensor according to claim 1, characterized in that: A positioning column (5) is arranged in the support hole (2), a supporting ring (6) is arranged at the bottom end of the lower plate (1), and an overload protection device is arranged below the lower plate (1), the overload protection device comprising a transformer seat (7), a bottom sealing plate (71) arranged at the bottom end of the transformer seat (7) for closing the bottom end of the transformer seat (7), and a sliding device for receiving overload force.

3. An integral matrix force sensor according to claim 2, characterized in that: The sliding device comprises a cross limit frame (14) at the top, a sliding rod (15) connected to one side of the bottom ends of the four long sides of the cross limit frame (14) away from the center, a connecting plate (16) connected to the bottom end of the sliding rod (15), and a plunger (17) connected to one end of the connecting plate (16) away from the sliding rod (15), and is used to receive overload force and adjust the position of the integral matrix force sensor.

4. The integral matrix force sensor according to claim 3, characterized in that: The four long sides of the cross limit frame (14) are respectively inserted into four spacing gaps (31); the cross limit frame (14) is located below the upper plate (4); and there is a gap between the cross limit frame (14) and the upper plate (4) for direct contact when the upper plate (4) moves excessively downward.

5. The integral matrix force sensor according to claim 4, characterized in that: The transformer seat (7) and the bottom sealing plate (71) are both provided with uniformly distributed positioning holes (8), the bottom of the positioning column (5) is inserted into the positioning hole (8), the top of the transformer seat (7) is provided with an annular hydraulic ring groove (9), the bottom of the support ring (6) is inserted into the hydraulic ring groove (9), the side wall of the support ring (6) is in contact with the side wall of the hydraulic ring groove (9), the bottom of the hydraulic ring groove (9) is filled with hydraulic oil, the bottom end of the support ring (6) is in contact with the liquid surface of the hydraulic oil in the hydraulic ring groove (9), and is used to limit the position of the lower plate (1), and there is a gap between the bottom end of the lower plate (1) and the top end of the transformer seat (7), which is used to provide space for the lower plate (1) to move downward for buffering.

6. The integral matrix force sensor according to claim 5, characterized in that: The transformer seat (7) is provided with four sliding holes (10) evenly distributed around the circumference and four adjusting holes (11) evenly distributed around the circumference. The sliding rod (15) is movably sleeved in the sliding hole (10) to limit the movement direction of the sliding rod (15). The plunger (17) is movably sleeved in the adjusting hole (11) to limit the movement direction of the plunger (17). A connecting hole I (12) is provided on the bottom side wall of the sliding hole (10) to be connected with the adjusting hole (11). The connecting plate (16) is movably sleeved in the connecting hole I (12) to limit the movement distance of the connecting plate (16).

7. An integral matrix force sensor according to claim 6, characterized in that: A spring I (18) is provided between the bottom end of the slide rod (15) and the bottom sealing plate (71), and a spring II (19) is provided between the bottom end of the plunger (17) and the bottom sealing plate (71), for driving the slide device to reset.

8. The integral matrix force sensor according to claim 7, characterized in that: A connecting hole II (13) is provided on the top side wall of the regulating hole (11) and is connected to the bottom of the hydraulic ring groove (9) for bidirectional flow of the hydraulic oil in the hydraulic ring groove (9). The side wall of the plunger (17) is in contact with the side wall of the regulating hole (11). The plunger (17) closes the connecting hole II (13) through the top side wall, for limiting the flow state of the hydraulic oil in the hydraulic ring groove (9).

9. The integral matrix force sensor according to claim 8, characterized in that: The top of the regulating hole (11) is provided with a center rod (20), the bottom of the center rod (20) is provided with an annular necking groove (21), the notch of the necking groove (21) is provided with a liquid capsule I (23), the top of the center rod (20) is provided with a liquid capsule II (24) for changing the size of the top space of the regulating hole (11), an infusion cavity (22) is provided in the center rod (20), the bottom of the infusion cavity (22) is provided with a drainage hole I (25) connected to the necking groove (21), the top of the infusion cavity (22) is provided with a drainage hole II (26) connected to the liquid capsule II (24) for conveying the hydraulic oil in the necking groove (21), the infusion cavity (22) and the liquid capsule II (24).

10. An integral matrix force sensor according to claim 9, characterized in that: The center of the plunger (17) is provided with a wrapping hole (171) which passes through the wrapping hole (171) from top to bottom. The bottom end of the center rod (20) passes through the wrapping hole (171). The diameter of the center rod (20) is the same as the inner diameter of the wrapping hole (171) and is used to squeeze and release the liquid capsule I (23).

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