Force detection device and force detection system

Abstract

The invention discloses a force detection device and a force detection system. The force detection device includes: a mounting plate; the force sensor is mounted on the mounting plate; and the lever assembly is rotationally mounted on the mounting plate and can rotate by taking the rotating axis of the lever assembly as a fulcrum. The lever assembly is used for amplifying the thrust F1 applied to the lever assembly by a detected object and applying the amplified thrust F2 to the force sensor. Therefore, in the invention, the force detection device can accurately and sensitively detect the thrust applied to the force detection device by the detected object, so that whether the quality of the detected object is qualified or not can be accurately identified according to the change curve of the detected thrust.

Description

Technical Field

[0001] The invention relates to a force detection device and a force detection system comprising the force detection device. Background Art

[0002] In the prior art, force is sometimes needed to determine whether the quality of the inspected product is qualified. For example, force can be used to check whether there is a problem of cold soldering in welded products. However, in the case of high-speed continuous detection, it is difficult for force sensors to accurately and sensitively detect small forces, and each detection position cannot be clearly identified. This makes it difficult to achieve automated detection, and manual detection has low stability, which affects the automation level of the entire production line. Summary of the invention

[0003] The purpose of the present invention is to solve at least one aspect of the above-mentioned problems and defects in the prior art.

[0004] According to one aspect of the present invention, a force detection device is provided. The force detection device comprises: a mounting plate; a force sensor mounted on the mounting plate; and a lever assembly rotatably mounted on the mounting plate and capable of rotating with its rotation axis as a fulcrum. The lever assembly is used to amplify the thrust F1 applied by the detected object and apply the amplified thrust F2 to the force sensor.

[0005] According to an exemplary embodiment of the present invention, the lever assembly includes: a lever member, including a first force arm and a second force arm respectively located on both sides of the fulcrum; and a movable arm, movably mounted on the first force arm, and capable of moving along the length direction of the first force arm. The end of the movable arm extends beyond the end of the first force arm to contact the detected object, and the end of the second force arm is used to contact the force sensor to apply the amplified thrust F2 to the force sensor.

[0006] According to another exemplary embodiment of the present invention, the distance from the end of the movable arm to the fulcrum is referred to as the first arm length L1, and the distance from the end of the second force arm to the fulcrum is referred to as the second arm length L2; the first arm length L1 is greater than the second arm length L2, so that the thrust F2 applied by the end of the second force arm on the force sensor is greater than the thrust F1 applied by the detected object on the end of the movable arm.

[0007] According to another exemplary embodiment of the present invention, the ratio of the first arm length L1 to the second arm length L2 is referred to as a force amplification factor K, and the force amplification factor K can be adjusted by moving the moving arm along the length direction of the first force arm.

[0008] According to another exemplary embodiment of the present invention, the force detection device further includes: an arm length adjustment device, installed on the first force arm of the lever member, for moving the movable arm along the length direction of the first force arm to adjust the size of the first arm length L1.

[0009] According to another exemplary embodiment of the present invention, the arm length adjustment device includes: a first screw rod, rotatably mounted on the first force arm; and a first nut, threadedly connected to the first screw rod, and the first nut is fixed to the movable arm, so that the first nut and the movable arm can be driven to move along the length direction of the first force arm by rotating the first screw rod.

[0010] According to another exemplary embodiment of the present invention, the arm length adjustment device further comprises: a first locking member movably mounted on the first force arm. When the first locking member is moved to a locking position, the first locking member engages with the first screw rod to prevent the first screw rod from rotating; when the first locking member is moved to an unlocking position, the first locking member is separated from the first screw rod to allow the first screw rod to rotate.

[0011] According to another exemplary embodiment of the present invention, the force detection device further includes: a limit member, which is installed on the mounting plate and is used to limit the lever assembly to a predetermined initial position; and an elastic reset member, which is connected between the mounting plate and the lever assembly and is used to reset the lever assembly to the initial position when the lever assembly is not in contact with the detected object.

[0012] According to another exemplary embodiment of the present invention, one end of the lever assembly is used to contact the object to be detected, and the other end is used to contact the force sensor; the other end of the lever assembly can rotate around the fulcrum between the force sensor and the limit member; when the lever assembly is in the initial position, the other end of the lever assembly abuts against the limit member.

[0013] According to another exemplary embodiment of the present invention, the stopper is movably and / or rotatably mounted on the mounting plate, so that the distance G between the stopper and the force sensor can be adjusted.

[0014] According to another exemplary embodiment of the present invention, the limit member is an eccentric cam rotatably mounted on the mounting plate, and the eccentric cam can be rotated to different angles around its eccentric axis to adjust the distance G between the limit member and the force sensor.

[0015] According to another exemplary embodiment of the present invention, the force detection device further comprises: a locking member movably mounted on the mounting plate. When the locking member is moved to a locking position, the locking member engages with the limiting member to lock the limiting member so that the limiting member cannot be moved or rotated; when the locking member is moved to an unlocking position, the locking member is separated from the limiting member to allow the limiting member to move or rotate.

[0016] According to another exemplary embodiment of the present invention, the force detection device further includes: a base plate, the mounting plate is rotatably mounted on the base plate and is rotatable about a horizontal axis parallel to the first horizontal direction.

[0017] According to another exemplary embodiment of the present invention, a pivot hole is formed on the base plate, a pivot shaft is provided on the mounting plate, and the pivot shaft is rotatably mounted in the pivot hole so that the mounting plate can rotate relative to the base plate.

[0018] According to another exemplary embodiment of the present invention, a plurality of pivot holes are formed on the base plate, and the plurality of pivot holes are spaced apart in the vertical direction; the pivot shaft on the mounting plate can be rotatably mounted in any one of the plurality of pivot holes, so that the position of the mounting plate in the vertical direction can be adjusted.

[0019] According to another exemplary embodiment of the present invention, the rotation axis of the lever assembly extends along the first horizontal direction.

[0020] According to another exemplary embodiment of the present invention, the force detection device further includes: a fixing plate, the substrate is movably mounted on the fixing plate and can move relative to the fixing plate along a second horizontal direction perpendicular to the first horizontal direction.

[0021] According to another exemplary embodiment of the present invention, the force detection device further includes: a position adjustment device, mounted on the fixing plate, and configured to move the substrate along the second horizontal direction to adjust the position of the substrate in the second horizontal direction.

[0022] According to another exemplary embodiment of the present invention, the position adjustment device includes: a second screw rod, rotatably mounted on the fixed plate; and a second nut, threadedly connected to the second screw rod, and the second nut is fixed to the base plate, so that the second nut and the base plate can be driven to move along the second horizontal direction by rotating the second screw rod.

[0023] According to another exemplary embodiment of the present invention, the position adjustment device further comprises: a second locking member movably mounted on the fixing plate. When the second locking member is moved to a locking position, the second locking member engages with the second screw rod to prevent the second screw rod from rotating; when the second locking member is moved to an unlocking position, the second locking member is separated from the second screw rod to allow the second screw rod to rotate.

[0024] According to another aspect of the present invention, a force detection system is provided, which comprises: the force detection device mentioned above; and a moving device, which is used to drive the force detection device to move relative to the detected object.

[0025] According to an exemplary embodiment of the present invention, the detected object is a wire soldered on a circuit board, and the force detection device is used to detect whether the wire has a cold solder joint; when the wire has a cold solder joint, the wire will fall off the circuit board under the push of the lever assembly, so that the thrust change curve detected by the force sensor is different from the predetermined thrust change curve, so that it is possible to judge whether the wire has a cold solder joint based on the thrust change curve detected by the force sensor; the predetermined thrust change curve refers to the thrust change curve detected by the force sensor when the welding quality of the wire is qualified.

[0026] According to another exemplary embodiment of the present invention, the distance G between the force sensor and the limit member of the force detection device is set according to the moving speed V of the force detection device relative to the object to be detected; and the distance G between the force sensor and the limit member is inversely proportional to the moving speed V of the force detection device relative to the object to be detected.

[0027] In the aforementioned exemplary embodiments of the present invention, the force detection device can accurately and sensitively detect the thrust applied to it by the detected object, so as to accurately identify whether the quality of the detected object is qualified according to the change curve of the detected thrust.

[0028] Other objects and advantages of the present invention will become apparent from the following description of the present invention with reference to the accompanying drawings, which will help to provide a comprehensive understanding of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic plan view showing a force detection device according to an exemplary embodiment of the present invention, wherein the mounting plate is in a vertical initial position;

[0030] Figure 2 A schematic plan view showing a force detection device according to an exemplary embodiment of the present invention, wherein the mounting plate is rotated to an inclined position;

[0031] Figure 3 A schematic diagram showing a force amplification principle of a lever assembly of a force detection device according to an exemplary embodiment of the present invention;

[0032] Figure 4 A schematic diagram showing a lever assembly of a force detection device according to an exemplary embodiment of the present invention, wherein the lever assembly is in an initial position when it is not in contact with a detected object;

[0033] Figure 5 A schematic diagram showing a lever assembly of a force detection device according to an exemplary embodiment of the present invention, wherein the lever assembly is in a detection position when in contact with a detected object;

[0034] Figure 6 A schematic plan view showing a lever assembly, a force sensor and a stopper of a force detection device according to an exemplary embodiment of the present invention, wherein the stopper is rotated to a first angular position;

[0035] Figure 7 A schematic plan view showing a lever assembly, a force sensor and a stopper of a force detection device according to an exemplary embodiment of the present invention, wherein the stopper is rotated to a second angular position;

[0036] Figure 8 A schematic plan view showing a lever assembly, a force sensor and a stopper of a force detection device according to an exemplary embodiment of the present invention, wherein the stopper is rotated to a third angular position;

[0037] Fig. 9 A schematic plan view showing an arm length adjustment device according to an exemplary embodiment of the present invention, wherein the first locking member is in an unlocking position separated from the first screw rod;

[0038] Fig.10 A schematic plan view showing an arm length adjustment device according to an exemplary embodiment of the present invention, wherein the first locking member is in a locking position engaged with the first screw rod;

[0039] Fig.11 A schematic plan view showing a position adjustment device according to an exemplary embodiment of the present invention, wherein the second locking member is in an unlocking position separated from the second screw rod;

[0040] Fig.12 A schematic plan view of a position adjustment device according to an exemplary embodiment of the present invention is shown, wherein the second locking member is in a locking position engaged with the second screw rod. DETAILED DESCRIPTION

[0041] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation of the present invention.

[0042] In addition, in the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the disclosed embodiments. However, it is apparent that one or more embodiments may be implemented without these specific details. In other cases, known structures and devices are embodied in a schematic manner to simplify the accompanying drawings.

[0043] According to an overall technical concept of the present invention, a force detection device is provided. The force detection device comprises: a mounting plate; a force sensor mounted on the mounting plate; and a lever assembly rotatably mounted on the mounting plate and capable of rotating with its rotation axis as a fulcrum. The lever assembly is used to amplify the thrust F1 applied by the detected object and apply the amplified thrust F2 to the force sensor.

[0044] According to another general technical concept of the present invention, a force detection system is provided. The force detection system comprises: the aforementioned force detection device; and a moving device for driving the force detection device to move relative to the detected object.

[0045] Figure 1 A schematic plan view showing a force detection device according to an exemplary embodiment of the present invention, wherein the mounting plate 1 is in a vertical initial position; Figure 2 A schematic plan view showing a force detection device according to an exemplary embodiment of the present invention, wherein the mounting plate 1 is rotated to an inclined position; Figure 3 A schematic diagram showing a force amplification principle of a lever assembly 20 of a force detection device according to an exemplary embodiment of the present invention; Figure 4 A schematic diagram showing a lever assembly 20 of a force detection device according to an exemplary embodiment of the present invention, wherein the lever assembly 20 is in an initial position when it is not in contact with a detected object 51; Figure 5 A schematic diagram showing a lever assembly 20 of a force detection device according to an exemplary embodiment of the present invention is shown, wherein the lever assembly 20 is in a detection position when in contact with a detected object 51 .

[0046] like Figures 1 to 5As shown, in an exemplary embodiment of the present invention, a force detection device is disclosed. The force detection device includes: a mounting plate 1, a force sensor 3 and a lever assembly 20. The force sensor 3 is mounted on the mounting plate 1. The lever assembly 20 is rotatably mounted on the mounting plate 1 and can rotate with its rotation axis as a fulcrum 23. The lever assembly 20 is used to amplify the thrust F1 applied thereto by the detected object 51 and apply the amplified thrust F2 to the force sensor 3.

[0047] like Figures 1 to 5 As shown, in the illustrated embodiment, the lever assembly 20 includes: a lever member 2 and a moving arm 24. The lever member 2 is rotatably mounted on the mounting plate 1. The lever member 2 includes a first force arm 21 and a second force arm 22 respectively located on both sides of the fulcrum 23. The moving arm 24 is movably mounted on the first force arm 21 and can move along the length direction of the first force arm 21.

[0048] like Figures 1 to 5 As shown, in the illustrated embodiment, the end of the movable arm 24 extends beyond the end of the first force arm 21 for contacting the detected object 51. The end of the second force arm 22 is used to contact the force sensor 3 to apply the amplified thrust F2 to the force sensor 3.

[0049] like Figures 1 to 5 As shown, in the illustrated embodiment, the distance from the end of the moving arm 24 to the fulcrum 23 is called the first arm length L1, and the distance from the end of the second force arm 22 to the fulcrum 23 is called the second arm length L2. The first arm length L1 is greater than the second arm length L2, so that the thrust F2 applied by the end of the second force arm 22 to the force sensor 3 is greater than the thrust F1 applied by the detected object 51 to the end of the moving arm 24.

[0050] like Figures 1 to 5 As shown, in the illustrated embodiment, the ratio of the first arm length L1 to the second arm length L2 is referred to as a force amplification factor K, and the force amplification factor K can be adjusted by moving the movable arm 24 along the length direction of the first force arm 21 .

[0051] Fig. 9 A schematic plan view showing an arm length adjustment device 6 according to an exemplary embodiment of the present invention, wherein the first locking member 63 is in an unlocking position separated from the first screw rod 61; Fig.10 A schematic plan view showing an arm length adjustment device 6 according to an exemplary embodiment of the present invention, wherein the first locking member 63 is in a locking position engaged with the first screw rod 61;

[0052] like Figure 1-5 and Figure 9-10As shown, in the illustrated embodiment, the force detection device further comprises an arm length adjusting device 6. The arm length adjusting device 6 is mounted on the first force arm 21 of the lever member 2 and is used to move the movable arm 24 along the length direction of the first force arm 21 to adjust the size of the first arm length L1.

[0053] like Figure 1-5 and Figure 9-10 As shown, in the illustrated embodiment, the arm length adjustment device 6 includes: a first screw rod 61 and a first nut 62. The first screw rod 61 is rotatably mounted on the first lever arm 21. The first nut 62 is threadedly connected to the first screw rod 61. The first nut 62 is fixed to the moving arm 24, so that the first nut 62 and the moving arm 24 can be driven to move along the length direction of the first lever arm 21 by rotating the first screw rod 61.

[0054] like Figure 1-5 and Figure 9-10 As shown, in the illustrated embodiment, the arm length adjustment device 6 further includes a first locking member 63, which is movably mounted on the first force arm 21. When the first locking member 63 is moved to the locking position, the first locking member 63 engages with the first screw rod 61 to prevent the first screw rod 61 from rotating; when the first locking member 63 is moved to the unlocking position, the first locking member 63 is separated from the first screw rod 61 to allow the first screw rod 61 to rotate.

[0055] Figure 6 A schematic plan view showing a lever assembly 20, a force sensor 3 and a stopper 4 of a force detection device according to an exemplary embodiment of the present invention, wherein the stopper 4 is rotated to a first angular position; Figure 7 A schematic plan view showing a lever assembly 20, a force sensor 3 and a stopper 4 of a force detection device according to an exemplary embodiment of the present invention, wherein the stopper 4 is rotated to a second angular position; Figure 8 A schematic plan view showing a lever assembly 20 , a force sensor 3 , and a stopper 4 of a force detection device according to an exemplary embodiment of the present invention is shown, wherein the stopper 4 is rotated to a third angular position.

[0056] like Figures 1 to 10 As shown, in the illustrated embodiment, the force detection device further includes: a limiter 4 and an elastic reset member (not shown, which may be a coil spring). The limiter 4 is mounted on the mounting plate 1, and is used to limit the lever assembly 20 to a predetermined initial position. The elastic reset member is connected between the mounting plate 1 and the lever assembly 20, and is used to reset the lever assembly 20 to the initial position when the lever assembly 20 is not in contact with the detected object 51.

[0057] like Figures 1 to 10As shown, in the illustrated embodiment, one end of the lever assembly 20 (the end of the moving arm 24 in the figure) is used to contact the detected object 51, and the other end (the end of the second force arm 22 in the figure) is used to contact the force sensor 3. The other end of the lever assembly 20 can rotate around the fulcrum 23 between the force sensor 3 and the limiter 4. When the lever assembly 20 is in the initial position, the other end of the lever assembly 20 abuts against the limiter 4.

[0058] like Figures 1 to 10 As shown, in the illustrated embodiment, the limiting member 4 is movably and / or rotatably mounted on the mounting plate 1 , so that the distance G between the limiting member 4 and the force sensor 3 can be adjusted.

[0059] like Figures 1 to 10 As shown, in the illustrated embodiment, the limit member 4 is an eccentric cam rotatably mounted on the mounting plate 1 , and the eccentric cam can be rotated to different angles around its eccentric axis 41 to adjust the distance G between the limit member 4 and the force sensor 3 .

[0060] exist Figure 6 In the illustrated embodiment, the stopper 4 is rotated to a first angle so that the distance G between the stopper 4 and the force sensor 3 is equal to the first distance G1. Figure 7 In the illustrated embodiment, the stopper 4 is rotated to a second angle different from the first angle, so that the distance G between the stopper 4 and the force sensor 3 is equal to the second distance G2. Figure 8 In the illustrated embodiment, the stopper 4 is rotated to a third angle different from the first angle and the second angle, so that the distance G between the stopper 4 and the force sensor 3 is equal to the third distance G3. In the illustrated embodiment, the first distance G1, the second distance G2 and the third distance G3 are different from each other.

[0061] like Figures 1 to 10 As shown, in the illustrated embodiment, the force detection device further includes a locking member (not shown), which is movably mounted on the mounting plate 1. When the locking member is moved to the locking position, the locking member engages with the limiting member 4 to lock the limiting member 4 so that the limiting member 4 cannot be moved or rotated. When the locking member is moved to the unlocking position, the locking member is separated from the limiting member 4 to allow the limiting member 4 to move or rotate.

[0062] Fig.11 A schematic plan view showing a position adjustment device 9 according to an exemplary embodiment of the present invention, wherein the second locking member 93 is in an unlocking position separated from the second screw rod 91; Fig.12 A schematic plan view of a position adjustment device 9 according to an exemplary embodiment of the present invention is shown, wherein the second locking member 93 is in a locking position engaged with the second screw rod 91 .

[0063] like Figures 1 to 12 As shown, in the illustrated embodiment, the force detection device further comprises a base plate 7. The mounting plate 1 is rotatably mounted on the base plate 7 and can rotate around a horizontal axis parallel to the first horizontal direction X.

[0064] like Figures 1 to 12 As shown, in the illustrated embodiment, a pivot hole 71 is formed on the base plate 7 , and a pivot shaft 11 is provided on the mounting plate 1 , and the pivot shaft 11 is rotatably mounted in the pivot hole 71 , so that the mounting plate 1 can rotate relative to the base plate 7 .

[0065] like Figures 1 to 12 As shown, in the illustrated embodiment, a plurality of pivot holes 71 are formed on the base plate 7, and the plurality of pivot holes 71 are spaced apart in the vertical direction Z. The pivot shaft 11 on the mounting plate 1 can be rotatably mounted in any one of the plurality of pivot holes 71, so that the position of the mounting plate 1 in the vertical direction Z can be adjusted.

[0066] like Figures 1 to 12 As shown, in the illustrated embodiment, the rotation axis of the lever assembly 20 extends along the first horizontal direction X.

[0067] like Figures 1 to 12 As shown, in the illustrated embodiment, the force detection device further comprises a fixing plate 8. The base plate 7 is movably mounted on the fixing plate 8 and can move relative to the fixing plate 8 along a second horizontal direction Y perpendicular to the first horizontal direction X.

[0068] like Figures 1 to 12 As shown, in the illustrated embodiment, the force detection device further comprises a position adjustment device 9. The position adjustment device 9 is mounted on the fixing plate 8 and is used to move the substrate 7 along the second horizontal direction Y to adjust the position of the substrate 7 in the second horizontal direction Y.

[0069] like Figures 1 to 12 As shown, in the illustrated embodiment, the position adjustment device 9 includes: a second screw rod 91 and a second nut 92. The second screw rod 91 is rotatably mounted on the fixing plate 8. The second nut 92 is threadedly connected to the second screw rod 91. The second nut 92 is fixed to the base plate 7, so that the second nut 92 and the base plate 7 can be driven to move along the second horizontal direction Y by rotating the second screw rod 91.

[0070] like Figures 1 to 12 As shown, in the illustrated embodiment, the position adjustment device 9 further includes a second locking member 93. The second locking member 93 is movably mounted on the fixing plate 8. When the second locking member 93 is moved to the locking position, the second locking member 93 engages with the second screw rod 91 to prevent the second screw rod 91 from rotating. When the second locking member 93 is moved to the unlocking position, the second locking member 93 is separated from the second screw rod 91 to allow the second screw rod 91 to rotate.

[0071] like Figures 1 to 12 As shown, in another exemplary embodiment of the present invention, a force detection system is also disclosed. The force detection system includes: the aforementioned force detection device and a moving device (not shown, for example, it can be a translation mechanism). The moving device is used to drive the force detection device to move relative to the detected object 51.

[0072] like Figures 1 to 12 As shown, in the illustrated embodiment, the detected object 51 can be a wire 51 welded on a circuit board 52, and the force detection device is used to detect whether the wire 51 has a cold solder joint. When the wire 51 has a cold solder joint, the solder joint 53 between the wire 51 and the circuit board 52 is not firm and is easy to fall off. Therefore, at this time, the wire 51 will fall off from the circuit board 52 under the push of the lever assembly 20, so that the thrust change curve detected by the force sensor 3 is different from the predetermined thrust change curve, so that it is possible to judge whether the wire 51 has a cold solder joint based on the thrust change curve detected by the force sensor 3. The predetermined thrust change curve refers to the thrust change curve detected by the force sensor 3 when the welding quality of the wire 51 is qualified.

[0073] like Figures 1 to 12 As shown, in the illustrated embodiment, the distance G between the force sensor 3 and the stopper 4 of the force detection device is set according to the moving speed V of the force detection device relative to the detected object 51. In the illustrated embodiment, the distance G between the force sensor 3 and the stopper 4 is inversely proportional to the moving speed V of the force detection device relative to the detected object 51. That is, when the moving speed V of the force detection device relative to the detected object 51 is greater, the distance G between the force sensor 3 and the stopper 4 is smaller; when the moving speed V of the force detection device relative to the detected object 51 is smaller, the distance G between the force sensor 3 and the stopper 4 is larger.

[0074] Those skilled in the art will appreciate that the embodiments described above are exemplary and may be improved upon by those skilled in the art. The structures described in the various embodiments may be freely combined without causing any conflicts in structure or principle, and these changes should fall within the scope of protection of the present invention.

[0075] Although the present invention has been described in conjunction with the accompanying drawings, the embodiments disclosed in the accompanying drawings are intended to exemplify the preferred implementations of the present invention and should not be construed as limiting the present invention.

[0076] Although some embodiments of the general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.

[0077] It should be noted that the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. In addition, any element reference signs in the claims shall not be construed as limiting the scope of the present invention.

Claims

1. A force detection device, characterized in that: include: Mounting plate (1); A force sensor (3) mounted on the mounting plate (1); and The lever assembly (20) is rotatably mounted on the mounting plate (1) and is capable of rotating with its rotation axis as a fulcrum (23). The lever assembly (20) is used to amplify the thrust F1 applied thereto by the detected object (51) and to apply the amplified thrust F2 to the force sensor (3).

2. The force detection device according to claim 1, characterized in that: The lever assembly (20) comprises: A lever member (2) comprising a first lever arm (21) and a second lever arm (22) respectively located on both sides of the fulcrum (23); and a movable arm (24) movably mounted on the first lever arm (21) and capable of moving along the length direction of the first lever arm (21), The end of the movable arm (24) extends beyond the end of the first force arm (21) and is used to contact the detected object (51). The end of the second force arm (22) is used to contact the force sensor (3) so as to apply the amplified thrust F2 to the force sensor (3).

3. The force detection device according to claim 2, characterized in that: The distance from the end of the movable arm (24) to the fulcrum (23) is called the first arm length L1, and the distance from the end of the second force arm (22) to the fulcrum (23) is called the second arm length L2; The first arm length L1 is greater than the second arm length L2, so that the thrust F2 applied by the end of the second force arm (22) on the force sensor (3) is greater than the thrust F1 applied by the detected object (51) on the end of the moving arm (24).

4. The force detection device according to claim 3, characterized in that: The ratio of the first arm length L1 to the second arm length L2 is called the force amplification factor K, and the force amplification factor K can be adjusted by moving the movable arm (24) along the length direction of the first force arm (21).

5. The force detection device according to claim 3, characterized in that: Also includes: The arm length adjusting device (6) is installed on the first force arm (21) of the lever member (2) and is used to move the movable arm (24) along the length direction of the first force arm (21) to adjust the size of the first arm length L1.

6. The force detection device according to claim 5, characterized in that: The arm length adjustment device (6) comprises: A first screw rod (61) rotatably mounted on the first lever arm (21); and a first nut (62) threadably connected to the first screw rod (61), The first nut (62) is fixed to the moving arm (24), so that the first nut (62) and the moving arm (24) can be driven to move along the length direction of the first force arm (21) by rotating the first screw rod (61).

7. The force detection device according to claim 6, characterized in that: The arm length adjustment device (6) further comprises: a first locking member (63) movably mounted on the first force arm (21), wherein when the first locking member (63) is moved to a locking position, the first locking member (63) engages with the first screw rod (61) to prevent the first screw rod (61) from rotating; When the first locking member (63) is moved to the unlocking position, the first locking member (63) is separated from the first screw rod (61) to allow the first screw rod (61) to rotate.

8. The force detection device according to claim 1, characterized in that: Also includes: A limiting member (4) is mounted on the mounting plate (1) and is used to limit the lever assembly (20) to a predetermined initial position; and An elastic reset member is connected between the mounting plate (1) and the lever assembly (20) and is used to reset the lever assembly (20) to the initial position when the lever assembly (20) is not in contact with the detected object (51).

9. The force detection device according to claim 8, characterized in that: One end of the lever assembly (20) is used to contact the detected object (51), and the other end is used to contact the force sensor (3); The other end of the lever assembly (20) is capable of rotating around the fulcrum (23) between the force sensor (3) and the limiting member (4); When the lever assembly (20) is in the initial position, the other end of the lever assembly (20) abuts against the limiting member (4).

10. The force detection device according to claim 9, characterized in that: The limiting member (4) is movably and / or rotatably mounted on the mounting plate (1), so that the distance G between the limiting member (4) and the force sensor (3) can be adjusted.

11. The force detection device according to claim 10, characterized in that: The limiting member (4) is an eccentric cam rotatably mounted on the mounting plate (1), and the eccentric cam can be rotated to different angles around its eccentric axis (41) to adjust the distance G between the limiting member (4) and the force sensor (3).

12. The force detection device according to claim 8, characterized in that: Also includes: A locking member is movably mounted on the mounting plate (1), When the locking member is moved to the locking position, the locking member engages with the limiting member (4) to lock the limiting member (4) so ​​that the limiting member (4) cannot be moved or rotated; When the locking member is moved to the unlocking position, the locking member is separated from the limiting member (4) to allow the limiting member (4) to move or rotate.

13. The force detection device according to any one of claims 1 to 12, characterized in that: Also includes: A base plate (7), the mounting plate (1) being rotatably mounted on the base plate (7) and being capable of rotating about a horizontal axis parallel to a first horizontal direction (X).

14. The force detection device according to claim 13, characterized in that: A pivot hole (71) is formed on the base plate (7), and a pivot shaft (11) is provided on the mounting plate (1). The pivot shaft (11) is rotatably mounted in the pivot hole (71), so that the mounting plate (1) can rotate relative to the base plate (7).

15. The force detection device according to claim 14, characterized in that: A plurality of pivot holes (71) are formed on the base plate (7), and the plurality of pivot holes (71) are spaced apart in the vertical direction (Z); The pivot shaft (11) on the mounting plate (1) can be rotatably mounted in any one of the plurality of pivot holes (71), so that the position of the mounting plate (1) in the vertical direction (Z) can be adjusted.

16. The force detection device according to claim 13, characterized in that: The rotation axis of the lever assembly (20) extends along the first horizontal direction (X).

17. The force detection device according to claim 13, characterized in that: Also includes: A fixed plate (8), the base plate (7) being movably mounted on the fixed plate (8) and being capable of moving relative to the fixed plate (8) along a second horizontal direction (Y) perpendicular to the first horizontal direction (X).

18. The force detection device according to claim 17, characterized in that: Also includes: A position adjustment device (9) is installed on the fixing plate (8) and is used to move the substrate (7) along the second horizontal direction (Y) to adjust the position of the substrate (7) in the second horizontal direction (Y).

19. The force detection device according to claim 18, characterized in that: The position adjustment device (9) comprises: a second screw (91) rotatably mounted on the fixing plate (8); and A second nut (92) is threadedly connected to the second screw rod (91). The second nut (92) is fixed to the base plate (7), so that the second nut (92) and the base plate (7) can be driven to move along the second horizontal direction (Y) by rotating the second screw rod (91).

20. The force detection device according to claim 19, characterized in that: The position adjustment device (9) further comprises: a second locking member (93) movably mounted on the fixing plate (8), wherein when the second locking member (93) is moved to a locking position, the second locking member (93) engages with the second screw rod (91) to prevent the second screw rod (91) from rotating; When the second locking member (93) is moved to the unlocking position, the second locking member (93) is separated from the second screw rod (91) to allow the second screw rod (91) to rotate.

21. A force detection system, characterized in that: include: The force detection device according to any one of claims 1 to 20; and A moving device is used to drive the force detection device to move relative to the detected object (51).

22. The force detection system according to claim 21, characterized in that: The detected object (51) is a wire welded on a circuit board (52), and the force detection device is used to detect whether the wire has a cold weld; When a cold solder joint occurs in the wire, the wire will fall off from the circuit board (52) under the push of the lever assembly (20), so that the thrust change curve detected by the force sensor (3) is different from the predetermined thrust change curve, so that it is possible to judge whether a cold solder joint occurs in the wire based on the thrust change curve detected by the force sensor (3); The predetermined thrust change curve refers to the thrust change curve detected by the force sensor (3) when the welding quality of the wire is qualified.

23. The force detection system according to claim 21, characterized in that: The distance G between the force sensor (3) and the limiter (4) of the force detection device is set according to the moving speed V of the force detection device relative to the detected object (51); and The distance G between the force sensor (3) and the limit member (4) is inversely proportional to the moving speed V of the force detection device relative to the detected object (51).

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