Sensing device and force measurement method

Abstract

The invention discloses a sensing device and a force measuring method, the device comprises a magnet, a flexible supporting structure, a hard supporting structure and a magnetic induction sensor, the flexible supporting structure is used for bearing the magnet and can receive external force to deform so as to enable the magnet to generate displacement change; the hard supporting structure is used for bearing the flexible supporting structure; the magnetic induction sensor is fixedly arranged relative to the hard supporting structure; the magnetic induction sensor can generate a detection signal according to the change of the relative position of the magnet and the magnetic induction sensor when the flexible supporting structure is stressed and deformed, so as to realize the measurement of multi-dimensional force. Pressure detection is achieved through the electromagnetic principle, the structure is simple and reliable, the size can be greatly reduced, the force direction can be sensed, and therefore multi-direction detection of force can be achieved through a single sensing device, and the application range of the device is greatly expanded. The sensing device has the advantages of being simple in structure, small in size, low in cost, wide in application, high in practicability and suitable for being vigorously popularized.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a sensor device and a force measurement method. Background Art

[0002] Machine haptics is to enable machine equipment to simulate human tactile perception. Such technology allows machines to not only "see" and "hear", but also "feel" objects, surface textures, pressure and temperature in the external environment. To achieve tactile perception, special sensor designs and materials are required. These sensors need to be able to respond to pressure, tension, distortion and vibration. Existing pressure sensors are mainly based on the piezoresistive effect, which uses the characteristic that the resistance value of the piezoresistive element is inversely proportional to the change in pressure. When subjected to pressure, the resistance value of the piezoresistive element changes, thereby generating an electrical signal. In addition, there are resistive, capacitive, piezoelectric, photosensitive, etc. These existing pressure sensors are usually large in size, complex in structure, high in cost, and it is difficult to achieve dynamic and static measurement of multi-directional forces with a single sensor. Therefore, further improvements are needed. Summary of the invention

[0003] The present invention aims to solve the above problems and provide a sensing device and a force measurement method with simpler structure, smaller volume and lower cost.

[0004] In order to solve the above problems, the present invention provides a sensor device, characterized in that it comprises:

[0005] magnet;

[0006] A flexible support structure, used to carry the magnet and to deform under external force to cause displacement of the magnet;

[0007] A rigid supporting structure, used to carry the flexible supporting structure;

[0008] A magnetic induction sensor is arranged in a fixed position relative to the hard support structure;

[0009] When the flexible support structure is deformed by force, the magnetic induction sensor can generate a detection signal according to the change in the relative position between the magnet and the magnetic induction sensor, so as to realize the measurement of multi-dimensional force.

[0010] Furthermore, the flexible supporting structure includes a force receiving body and a support seat that are arranged in opposition, a receiving cavity is formed between the force receiving body and the support seat, and the magnet is arranged in the receiving cavity; the force receiving body and the support seat are made of flexible and deformable materials.

[0011] Furthermore, the magnet is enclosed in the flexible supporting structure and fixed relative to the flexible supporting structure.

[0012] Furthermore, a receiving groove is provided at one end of the support seat facing the force receiving body, and the magnet is fixedly embedded in the receiving groove and covered by the force receiving body.

[0013] Furthermore, the force receiving body is provided with a curved force receiving surface, and a central axis of the force receiving surface coincides with a central axis of the magnet.

[0014] Furthermore, the rigid support structure is provided with an engagement groove, and the flexible support structure is at least partially engaged with and fixed to the rigid support structure in a form-fitting manner.

[0015] Furthermore, a first positioning portion is provided on the rigid supporting structure, and the first positioning portion is provided on the periphery of the engaging groove; a second positioning portion whose position and shape match those of the first positioning portion is provided on the force receiving body; one end of the supporting seat is shaped to fit in the engaging groove, and the other end protrudes from the rigid supporting structure; the force receiving body covers the supporting seat and is connected to the rigid supporting structure through the mutual cooperation of the first positioning portion and the second positioning portion.

[0016] Furthermore, one end of the support seat is shaped to fit in the engagement groove, and the other end protrudes from the hard support structure, and the force receiving body covers the support seat and surrounds the support seat and the hard support structure therein.

[0017] Furthermore, the magnetic induction sensor is arranged on a PCBA board and electrically connected to the PCBA board, and the PCBA board is fixedly arranged on a side of the rigid support structure opposite to the flexible support structure.

[0018] Furthermore, a mounting groove is provided on a side of the hard supporting structure opposite to the engaging groove, the mounting groove is connected to or isolated from the engaging groove, the PCBA board is fixed at an open portion of the mounting groove, and the magnetic induction sensor is located in the mounting groove.

[0019] Furthermore, a third positioning portion is provided on the rigid supporting structure, and a fourth positioning portion is provided on the PCBA board, and the third positioning portion cooperates with the fourth positioning portion.

[0020] In addition, the present invention also provides a force measurement method for the aforementioned sensor device, which comprises the following steps:

[0021] Applying a plurality of forces of different directions and magnitudes to the sensing device, and collecting voltage data corresponding to the forces output by the magnetic induction sensor;

[0022] Calibrate the force and voltage data in a coordinate system;

[0023] Fitting the calibrated data to determine the mathematical expression used to describe the relationship between the force data and the voltage data;

[0024] The force acting on the sensing device is determined according to the mathematical expression and the voltage data actually detected by the magnetic induction sensor.

[0025] The intentional contribution of the present invention is that it effectively solves the above-mentioned problems. The sensing device of the present invention includes a magnet, a flexible support structure, a hard support structure and a magnetic induction sensor. The flexible support structure is used to support the magnet and receive external force. The magnet is deformed by force to drive the displacement change. Then, the electromagnetic change generated by the relative position change between the magnet and the magnetic induction sensor is used to detect the pressure. The electromagnetic principle is used to detect pressure. The structure is simple and reliable, and the volume can be greatly reduced. Moreover, the direction of the force can be sensed. Therefore, multi-directional force detection can be achieved through a single sensing device, thereby greatly expanding its application range. The sensing device of the present invention has the characteristics of simple structure, small volume, low cost and wide application. It has strong practicality and should be vigorously promoted. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of Example 1.

[0027] Figure 2 It is a partial exploded schematic diagram of Example 1.

[0028] Figure 3 It is a schematic diagram of the structural decomposition of Example 1.

[0029] Figure 4 It is a half-section schematic diagram of Example 1.

[0030] Figure 5 It is a schematic diagram of the structural decomposition of the flexible support structure.

[0031] Figure 6 It is a schematic diagram of the overall structure of Example 2.

[0032] Figure 7 It is a schematic diagram of the structural decomposition of Example 2.

[0033] Figure 8 It is a schematic diagram of the structural decomposition of Example 2.

[0034] Fig. 9 It is a half-section schematic diagram of Example 2.

[0035] Fig.10 It is a flow chart of the method of the present invention.

[0036] Figure symbols: magnet 10, flexible supporting structure 20, force receiving body 21, force receiving surface 211, positioning groove 212, second positioning portion 213, supporting seat 22, accommodating groove 221, main body 222, supporting portion 223, substrate portion 224, hollow hole 225, hard supporting structure 30, engaging groove 31, first positioning portion 32, mounting groove 33, third positioning portion 34, magnetic induction sensor 40, PCBA board 50, fourth positioning portion 51. DETAILED DESCRIPTION

[0037] The following examples are provided to further explain and supplement the present invention and do not constitute any limitation to the present invention.

[0038] like Figures 1 to 9 As shown, the sensing device of the present invention includes a magnet 10 , a flexible supporting structure 20 , a hard supporting structure 30 , and a magnetic induction sensor 40 .

[0039] The magnet 10 is used to interact with the magnetic induction sensor 40. When the relative positions of the two change, the magnetic induction sensor 40 can detect the change in magnetic induction intensity, thereby causing the induced voltage in the magnetic induction sensor 40 to change.

[0040] The flexible support structure 20 is used to support the magnet 10. The flexible support structure 20 is made of a flexible deformable material and can be deformed when subjected to force. The flexible support structure 20 can be deformed by external force to cause the magnet 10 to change in displacement. Since the magnet 10 is supported on the flexible support structure 20, when the flexible support structure 20 is deformed by force, the deformation of the flexible support structure 20 will be transmitted to the magnet 10, so that the position of the magnet 10 changes, thereby causing a displacement change relative to the magnetic induction sensor 40.

[0041] The hard support structure 30 is used to carry the flexible support structure 20, which is used to provide support on the one hand, and to adjust the force limit of the entire sensor device on the other hand, so that the sensor device is suitable for different detection conditions.

[0042] The magnetic induction sensor 40 is fixed relative to the rigid support structure 30. The position of the magnetic induction sensor 40 is fixed relative to the rigid support structure 30, while the magnet 10 is arranged on the flexible support structure 20 and can change its displacement with the deformation of the flexible support structure 20. Therefore, when the flexible support structure 20 is deformed by force, the relative position between the magnet 10 and the magnetic induction sensor 40 will change. In this way, the magnetic induction sensor 40 can generate corresponding detection signals according to the change of the relative position between the magnet 10 and the magnetic induction sensor 40 when the flexible support structure 20 is deformed by force, so as to realize the measurement of multi-dimensional force.

[0043] Furthermore, if Figure 2 to Figure 9 As shown, in order to better support the magnet 10, the flexible support structure 20 includes a force receiving body 21 and a support seat 22 that are arranged in a pair. The force receiving body 21 and the support seat 22 are both made of flexible and deformable materials, and both can be deformed by force. The materials used to make the force receiving body 21 and the support seat 22 include but are not limited to various soft glues, such as silicone rubber, TPR soft glue, TPE soft glue, etc. The material used to make the force receiving body 21 can be the same as or different from the material used to make the support seat 22, and can be specifically set according to needs. The softness of the force receiving body 21 and the support seat 22 can be set according to the conditions of the detection environment, and detections of different ranges and sensitivities can be achieved by setting force receiving bodies 21 and support seats 22 of different softness. The force receiving body 21 is used to receive external force. A receiving cavity is formed between the force receiving body 21 and the support seat 22. The magnet 10 is arranged in the receiving cavity. In this way, the magnet 10 can be arranged in the flexible support structure 20 , so that when the flexible support structure 20 is deformed by force, the position of the magnet 10 can follow the displacement change of the flexible support structure 20 .

[0044] Furthermore, in some embodiments, Figure 3 , Fig. 9 As shown, in order to make the magnet 10 more sensitive to the deformation of the flexible support mechanism, the magnet 10 is enclosed in the flexible support structure 20 and fixed relative to the flexible support structure 20. When the magnet 10 is enclosed in the flexible support structure 20, there will be no relative displacement between the magnet 10 and the flexible support structure 20, and the position of the magnet 10 will only change with the deformation of the flexible support structure 20. In this way, the magnet 10 is more sensitive to the external force, which is conducive to improving the sensitivity of the sensor device.

[0045] In addition, when the magnet 10 is sealed in the flexible support mechanism, the flexible support mechanism can provide good protection for the magnet 10, thereby preventing the magnet 10 from being exposed and accidentally damaged, and especially preventing the magnet 10 from falling off or accidentally shifting during long-term use, thereby ensuring the reliability of the sensor device and extending the service life of the sensor device.

[0046] Furthermore, if Figure 3 , Figure 7 As shown, in some embodiments, in order to make the magnet 10 well wrapped in the flexible support mechanism, a receiving groove 221 is provided at one end of the support seat 22 facing the force receiving body 21. The shape and size of the receiving groove 221 match the magnet 10. The magnet 10 is fixedly embedded in the receiving groove 221 and covered by the force receiving body 21.

[0047] When the magnet 10 is fixedly embedded in the receiving groove 221, it can be fixed in the receiving groove 221 by a tight fit, or it can be fixed in the receiving groove 221 by an adhesive such as glue. Preferably, the magnet 10 is embedded in the receiving groove 221 by a tight fit. Since the support seat 22 is made of a flexible deformable material, when the size of the receiving groove 221 is slightly smaller than the size of the magnet 10, the magnet 10 can be fixed in the receiving groove 221 by a tight fit without shaking. Arranging the magnet 10 in this way is not only convenient for processing and assembly, but also does not affect the deformation ability of the flexible support structure 20.

[0048] The shapes of the magnet 10 and the receiving groove 221 can be set as required. In this embodiment, preferably, the magnet 10 is a round block magnet, and its magnetic poles are arranged at both ends along its axial direction. Correspondingly, the receiving groove 221 is a circular groove.

[0049] Furthermore, in order to improve the sensitivity of the sensing device, in some embodiments, the force receiving body 21 is provided with a curved force receiving surface 211. Preferably, the force receiving surface 211 can be set to be a spherical curved surface, which is a part of a sphere. The force receiving surface 211 is provided at the end of the force receiving body 21 opposite to the hard support structure 30, and is arched toward the side away from the magnet 10. The force receiving surface 211 is used to sense the external force so that the flexible support structure 20 is deformed. The central axis of the force receiving surface 211 coincides with the central axis of the magnet 10. In this way, the force receiving surface 211 can receive external forces from all directions, and can ensure that the flexible support structure 20 is uniformly stressed, thereby ensuring the detection sensitivity and accuracy of the sensing device.

[0050] Furthermore, in some embodiments, the projection area of ​​the force receiving surface 211 on the plane where the magnet 10 is located should be larger than the area of ​​the magnet 10. In this way, it can be ensured that the force receiving surface 211 receives external force over a large range, causing the position of the magnet 10 to change, thereby improving the detection sensitivity.

[0051] Furthermore, if Figure 5 As shown, in some embodiments, in order to make the force receiving body 21 and the support seat 22 more reliably matched, a positioning groove 212 is provided on the side of the force receiving body 21 facing the support seat 22, and the shape of the positioning groove 212 matches the shape of the end of the support seat 22. The end of the support seat 22 can be matched with the positioning groove 212 in a shape-matching manner, which can limit the relative rotation between the two, thereby making the combination between them more reliable, ensuring that the external force received by the force receiving body 21 can be effectively transmitted to the support seat 22, thereby ensuring the effective deformation of the flexible support structure 20.

[0052] In some embodiments, Figure 2 to Figure 5 As shown, the support seat 22 includes a main body 222 in the middle and symmetrically arranged support parts 223. The number of the support parts 223 can be set as needed. Preferably, it is set to 4. The main body 222 is connected between the ends of one end of the support part 223 and is flush with the end of the support part 223. The other ends of the support parts 223 are spaced apart from each other. The receiving groove 221 is provided on the end surface of the main body 222. The magnet 10 is arranged in the receiving groove 221 of the main body 222. The positioning groove 212 on the force receiving body 21 matches the shape of the ends of the main body 222 and the support part 223, so that the main body 222 and the support part 223 of a certain depth are shaped and engaged in the positioning groove 212.

[0053] In some embodiments, Figure 7 , Figure 8 As shown, the support seat 22 includes a central main body 222, a symmetrically arranged support part 223 and a substrate part 224. The main body 222 is columnar and connected between one end of the support part 223, and the substrate part 224 is flat and connected to the other end of the support part 223 opposite to the main body 222. The substrate part 224 is spaced apart from the support part 223, and a hollow hole 225 is formed between the substrate part 224, the support part 223 and the main body 222. Further, the main body 222 is cylindrical and the substrate part 224 is square plate-shaped. The receiving groove 221 is provided on the end surface of the main body 222, and the magnet 10 is provided in the receiving groove 221 of the main body 222. The positioning groove 212 on the force receiving body 21 matches the shape of the ends of the main body 222 and the support portion 223 , so that the main body 222 and the support portion 223 of a certain depth are shaped and engaged in the positioning groove 212 .

[0054] The force receiving body 21 and the support seat 22 can be connected only by shape matching, or can be further fixed by gluing or other methods. Since the support seat 22 is located between the force receiving body 21 and the hard supporting structure 30, even if the force receiving body 21 and the support seat 22 are connected only by shape matching, the connection reliability between the force receiving body 21 and the support seat 22 can be guaranteed, and both can be deformed by force at the same time. Of course, in order to further ensure the connection reliability, the force receiving body 21 and the support seat 22 can also be further bonded together.

[0055] Furthermore, in some embodiments, Figure 2 to Figure 9As shown, in order to make the structure more reliable and reduce the volume of the structure as much as possible, the rigid support structure 30 is provided with a coupling groove 31. The flexible support structure 20 is at least partially coupled to and fixed to the rigid support structure 30 in a form-fitting manner.

[0056] In some embodiments, Figure 7 , Figure 8 , Fig. 9 As shown, the shape of the engagement groove 31 matches the shape of the base plate portion 224 of the support seat 22. For example, the base plate portion 224 is in the shape of a square plate, and the engagement groove 31 is a rectangular groove. The base plate portion 224 of the support seat 22 is embedded in the engagement groove 31 to perform shape matching. Further, when the support seat 22 is engaged in the engagement groove 31 of the hard support structure 30 by shape, the support seat 22 and the engagement groove 31 can also be fixed by gluing to further enhance the stability of the structure.

[0057] In some embodiments, Figure 2 to Figure 4 As shown, the shape of the engagement groove 31 matches the shape of the end of the support portion 223 of the support seat 22. For example, when the four ends of the support portion 223 are spaced apart from each other, the engagement groove 31 can receive the ends of the four support portions 223 to perform shape matching. Further, the end of the support portion 223 can be provided with a concave-convex structure, and correspondingly, the engagement groove 31 can be provided with an opposite concave-convex structure, so that the end of the support portion 223 and the engagement groove 31 are shape-engaged through the concave-convex structure. In specific implementation, the support seat 22 and the hard support structure 30 can be directly molded in-mold, which can improve production efficiency and connection stability.

[0058] The hard support structure 30 and the flexible support structure 20 are matched in shape through the joint groove 31. On the one hand, it can avoid the flexible support structure 20 from directly displacing relative to the hard support structure 30 to improve the connection stability. On the other hand, the flexible support structure 20 can be accommodated in the hard support structure 30 to reduce the structural height and reduce the overall size of the sensor device.

[0059] The engagement groove 31 may be in the form of a through hole or a non-through hole.

[0060] Furthermore, in some embodiments, Figure 6 , Figure 7 , Figure 8 , Fig. 9As shown, a first positioning portion 32 is provided on the rigid support structure 30, and the first positioning portion 32 is arranged at the periphery of the engagement groove 31. Correspondingly, a second positioning portion 213 whose position and shape match the first positioning portion 32 is provided on the force receiving body 21. The first positioning portion 32 and the second positioning portion 213 match each other, and both are one of a protrusion and a groove structure. For example, the first positioning portion 32 can be a protrusion structure, and the second positioning portion 213 can be a groove structure. For another example, the first positioning portion 32 can be a groove structure, and the second positioning portion 213 can be a protrusion structure. When one end of the support seat 22 is shaped to fit in the engagement groove 31, and the other end of the support seat 22 protrudes from the rigid support structure 30, the force receiving body 21 covers the support seat 22, and is connected to the rigid support structure 30 by the mutual cooperation of the first positioning portion 32 and the second positioning portion 213. Furthermore, when the force receiving body 21 is connected to the hard supporting structure 30 , the joints between them can be fixed by gluing to further improve the connection stability.

[0061] By providing the first positioning portion 32 and the second positioning portion 213 on the hard supporting structure 30 and the force receiving body 21 for cooperation, it is not only convenient for positioning and installation, but also can enhance the force bearing degree and avoid relative misalignment / displacement between the flexible supporting structure 20 and the hard supporting structure 30 when subjected to force.

[0062] In some embodiments, Figure 2 to Figure 5 As shown, when one end of the support seat 22 is shaped to fit in the engagement groove 31, the other end of the support seat 22 protrudes from the hard support structure 30. The force receiving body 21 covers the support seat 22 and surrounds the support seat 22 and the hard support structure 30 therein. Figure 4 As shown, when the rigid support structure 30 is enclosed in the force receiving body 21, the outer wall of the rigid support structure 30 fits with the interior of the force receiving body 21. Since the force receiving body 21 is flexible and deformable, the force receiving body 21 can wrap the rigid support structure 30 therein in a tight fit. Of course, the force receiving body 21 can also be fixed to the rigid support structure 30 by gluing to prevent the structure from detaching. In this embodiment, the force receiving body 21 covers the rigid support structure 30 and the support seat 22 as a whole, and can fully surround the bottom structure, so that the structure can fit more firmly. In actual tests, this structure can withstand at least 3.5 million presses, thereby greatly improving the structural stability and extending the service life of the sensor device. In addition, this structural design can reduce the overall thickness of the sensor device, and the overall thickness of the structure of this embodiment can be reduced to 5.9 mm.

[0063] Furthermore, the magnetic induction sensor 40 is disposed on the PCBA board 50 and is electrically connected to the PCBA board 50. Figure 2 to Figure 9 As shown, the PCBA board 50 is fixedly arranged on the side of the hard support structure 30 opposite to the flexible support structure 20. In other words, the PCBA board 50 and the flexible support structure 20 are respectively arranged on both sides of the hard support structure 30. The hard support structure 30 is not only used to support the flexible support structure 20, but also used to support the PCBA board 50. The hard support structure 30 is arranged between the PCBA board 50 and the flexible support structure 20, and different materials such as plastic, metal, etc. can be selected to adjust the overall force limit of the sensor device, so that the sensor device is suitable for different pressure environments, and the PCBA board 50 can be protected.

[0064] Furthermore, a storage unit may be provided on the PCBA board 50, and data such as calibration fitting parameters may be directly stored therein to improve the adaptability of the sensor device.

[0065] In order to facilitate the fixing of the PCBA board 50 on the hard support structure 30, a mounting groove 33 is provided on the side of the hard support structure 30 opposite to the engagement groove 31. The shape and size of the mounting groove 33 can be set as required. Preferably, the mounting groove 33 can be set as a rectangular groove. In some embodiments, the mounting groove 33 is connected to the engagement groove 31. In some embodiments, the mounting groove 33 is isolated from the engagement groove 31. The PCBA board 50 is fixed at the open end of the mounting groove 33, and the magnetic induction sensor 40 is located in the mounting groove 33.

[0066] Further, in order to facilitate the positioning and installation of the PCBA board 50 and the hard support structure 30, a third positioning portion 34 is provided on the hard support structure 30, and a fourth positioning portion 51 is provided on the PCBA board 50. The third positioning portion 34 cooperates with the fourth positioning portion 51. The third positioning portion 34 and the fourth positioning portion 51 are one of a protrusion and a groove structure. For example, the third positioning portion 34 can be a protrusion structure, and the fourth positioning groove 212 can be a groove structure. For another example, the third positioning portion 34 can be a groove structure, and the fourth positioning portion 51 can be a protrusion structure. The third positioning portion 34 and the fourth positioning portion 51 can be arranged in a direction parallel to the line connecting the magnet 10 and the magnetic induction sensor 40, or can be arranged in a direction perpendicular to the line connecting the magnet 10 and the magnetic induction sensor 40.

[0067] When the PCBA board 50 is fixedly connected to the hard supporting structure 30 , the entirety of the PCBA board 50 may be enclosed outside the force receiving body 21 , or may be exposed outside the force receiving body 21 .

[0068] For a more detailed introduction, different embodiments are given as examples below:

[0069] Example 1

[0070] like Figure 1 to Figure 5 As shown, the sensing device of this embodiment includes a flexible supporting structure 20 , a magnet 10 , a hard supporting structure 30 , a magnetic induction sensor 40 and a PCBA board 50 .

[0071] The flexible supporting structure 20 includes a force receiving body 21 and a supporting seat 22 .

[0072] The force receiving body 21 is provided with the force receiving surface portion 211 , and a positioning groove 212 is provided inside thereof.

[0073] The support seat 22 includes a main body 222 and four supporting parts 223. The main body 222 is provided with a receiving groove 221. The main body 222 is connected between the ends of the four supporting parts 223. The other ends of the four supporting parts 223 are spaced opposite to each other, and the ends thereof are provided with a concave-convex structure.

[0074] The hard supporting structure 30 is provided with a coupling groove 31, whose shape matches the end shape of the supporting portion 223, and the two shapes are coupled together. In specific implementation, the hard supporting structure 30 and the supporting seat 22 are in-mold injection molded, which improves production efficiency and improves connection stability.

[0075] A mounting groove 33 is provided on a side of the hard supporting structure 30 opposite to the engaging groove 31 , and a third positioning portion 34 having a columnar protrusion structure is symmetrically provided around the periphery of the mounting groove 33 .

[0076] The PCBA board 50 is symmetrically provided with a fourth positioning portion 51 of a semicircular groove structure; the PCBA board 50 is aligned with the open portion of the mounting groove 33 of the rigid support structure 30, and the third positioning portion 34 cooperates with the fourth positioning portion 51; the magnetic induction sensor 40 is arranged on the PCBA board 50 and is located in the mounting groove 33 between the PCBA board 50 and the rigid support structure 30.

[0077] The force receiving body 21 covers the support seat 22, the hard supporting structure 30, and the PCBA board 50, and surrounds the support seat 22, the hard supporting structure 30, and the PCBA board 50 therein; the interior of the force receiving body 21 fits with the outer walls of the support seat 22, the hard supporting structure 30, and the PCBA board 50, and is bonded by glue.

[0078] The magnet 10 is disposed in the receiving groove 221 and is sealed and wrapped between the support seat 22 and the force receiving body 21. The magnet 10 is circular, and its central axis coincides with the central axis of the force receiving surface 211 and the central axis of the magnetic induction sensor 40.

[0079] The structure of this embodiment can reduce the overall thickness of the sensor device to 5.9 mm, and can withstand at least 3.5 million presses in laboratory tests. Therefore, it has the characteristics of small structure and reliable structure.

[0080] Example 2

[0081] like Figure 6 to Figure 9 As shown, the sensing device of this embodiment includes a flexible supporting structure 20 , a magnet 10 , a hard supporting structure 30 , a magnetic induction sensor 40 and a PCBA board 50 .

[0082] The flexible supporting structure 20 includes a force receiving body 21 and a supporting seat 22 .

[0083] The force receiving body 21 is provided with the force receiving surface portion 211 , and a positioning groove 212 is provided inside thereof.

[0084] The support seat 22 includes a main body 222, four supporting parts 223 and a base plate 224. The main body 222 is provided with a receiving groove 221. The main body 222 is cylindrical and connected between the ends of the four supporting parts 223. The base plate 224 is rectangular and connected to the other end of the supporting part 223. It is spaced a certain distance from the main body 222, and a hollow hole 225 is formed between the main body 222, the supporting part 223 and the base plate 224.

[0085] The rigid support structure 30 is provided with a rectangular engagement groove 31 , whose shape and size match the substrate portion 224 . The rigid support structure 30 and the substrate portion 224 are engaged with each other in shape and bonded together by glue, so that the support seat 22 protrudes from the rigid support structure 30 .

[0086] A first positioning portion 32 of a protruding structure is provided on the rigid support structure 30, and correspondingly, a second positioning portion 213 of a groove structure is provided on the force receiving body 21. The force receiving body 21 covers the support seat 22 and is connected to the rigid support structure 30. The force receiving body 21 and the support seat 22, as well as the force receiving body 21 and the rigid support structure 30, are bonded together, thereby improving the structural reliability. At the same time, the rigid support structure 30 and the force receiving body 21 are matched through the first positioning portion 32 and the second positioning portion 213, which is conducive to positioning and installation, and improves the connection reliability.

[0087] A rectangular mounting groove 33 is provided on a side of the rigid support structure 30 opposite to the engagement groove 31 , and a third positioning portion 34 protruding inwardly and in a protruding structure is symmetrically provided on the inner wall of the mounting groove 33 .

[0088] The PCBA board 50 is symmetrically provided with a fourth positioning portion 51 of a semicircular groove structure; the PCBA board 50 is aligned with the open portion of the mounting groove 33 of the rigid support structure 30, and the third positioning portion 34 cooperates with the fourth positioning portion 51; the PCBA board 50 is fixedly connected to the rigid support structure 30, and the magnetic induction sensor 40 is arranged on the PCBA board 50 and is located in the mounting groove 33 between the PCBA board 50 and the rigid support structure 30.

[0089] The magnet 10 is disposed in the receiving groove 221 and is sealed and wrapped between the support seat 22 and the force receiving body 21. The magnet 10 is circular, and its central axis coincides with the central axis of the force receiving surface 211 and the central axis of the magnetic induction sensor 40.

[0090] In addition, if Fig.10 As shown, the present invention also provides a force measurement method. The measurement method comprises the following steps:

[0091] S1: applying a plurality of forces of different directions and magnitudes to the sensing device, and collecting voltage data corresponding to the forces output by the magnetic induction sensor 40;

[0092] In this step, the aforementioned sensing device can be used. When applying a force to the sensing device, the force can be applied to the force receiving body 21, especially to the force receiving surface 211. In order to obtain sufficient effective data, several forces with different directions and magnitudes can be set to act on the sensing device. The force data applied to the sensing device are recorded one by one, including magnitude value and direction data.

[0093] When a force is applied to the sensor device, the flexible support structure 20 in the sensor device is deformed by the force, which is then transmitted to the magnet 10, causing the position of the magnet 10 to change. In this way, the relative position of the magnet 10 and the magnetic induction sensor 40 changes, so that the magnetic induction sensor 40 outputs voltage data corresponding to the force. For each force, the voltage data output by the magnetic induction sensor 40 is collected respectively, so that a large amount of force data and voltage data corresponding to each other can be obtained.

[0094] S2: Calibrate the force and voltage data in a coordinate system;

[0095] After collecting enough force and voltage data, data calibration can be performed. In the coordinate system, each data point (voltage data, force data) is plotted. In this embodiment, the data points are calibrated in a two-dimensional coordinate system with the applied force as the ordinate and the voltage data as the abscissa. These data points represent the response of the sensor device under different forces. Through these data points, the linear or nonlinear characteristics of the sensor device can be observed, which facilitates subsequent data fitting.

[0096] S3: Fitting the calibrated data to determine a mathematical expression for describing the relationship between the force data and the voltage data;

[0097] According to the distribution of the data points calibrated in step S2, select a suitable fitting model for curve fitting. If the data points are approximately distributed on a straight line, select linear fitting. If the data point distribution is complex, select nonlinear fitting, such as polynomial fitting, exponential fitting, etc. During specific implementation, a curve fitting tool in a mathematical software (such as MATLAB) or a programming language (such as Python) can be used to input the data points in step S2 for curve fitting. The curve fitting tool calculates the best fitting parameters based on the input data points and the selected model, thereby determining a mathematical expression that describes the relationship between the force data and the voltage data, which can be used to predict the force applied to the sensor device at a given voltage value.

[0098] S4: Determine the force acting on the sensing device according to the mathematical expression and the voltage data actually detected by the magnetic induction sensor 40.

[0099] After the mathematical expression of the relationship between the force data and the voltage data is determined in step S3, the other data can be calculated based on one of the force and voltage data. Therefore, when the magnetic induction sensor 40 outputs a certain voltage value, the force applied to the sensor device can be calculated based on the voltage value and the mathematical expression. In this way, the force applied to the sensor device can be calculated by using the relative position between the magnetic induction sensor 40 and the magnet 10 to cause the magnetic induction intensity to change and output the voltage value, thereby realizing the detection of multi-dimensional force.

[0100] In a specific implementation, the mathematical expression and the calculation program can be stored in the PCBA board. When the magnetic induction sensor 40 detects the output voltage data in real time, the sensing device can determine the force in real time, thereby realizing real-time detection of multi-dimensional forces.

[0101] Further, after step S1 and before step S2, the collected data may be processed to improve the accuracy and validity of the data. Specifically, the collected voltage data is filtered. In this embodiment, the voltage data is filtered using a Kalman filter algorithm. After filtering, more stable and real data is obtained for calibration, which can make the curve after calibration fitting more accurate, thereby improving the detection accuracy.

[0102] Furthermore, in step S3, after the fitting parameters are determined, the fitting results need to be verified to confirm whether the fitting curve can accurately reflect the trend of the data points. This process can be completed by calculating the fitting error (such as mean square error) or by visually checking the degree of fit between the fitting curve and the data points. If the fitting effect is not ideal, the fitting model is readjusted or the fitting parameters are reselected until the best fitting curve is found.

[0103] Although the present invention is disclosed through the above embodiments, the scope of the present invention is not limited thereto, and the above components may be replaced with similar or equivalent elements known to those skilled in the art without departing from the concept of the present invention.

Claims

1. A sensing device, characterized in that: It includes: A magnet (10); A flexible support structure (20) is used to carry the magnet (10) and can be deformed by external force to cause the magnet (10) to change its displacement; A hard supporting structure (30) for supporting the flexible supporting structure (20); A magnetic induction sensor (40) is arranged in a fixed position relative to the hard support structure (30); The magnetic induction sensor (40) can generate a detection signal according to the change in the relative position between the magnet (10) and the magnetic induction sensor (40) when the flexible support structure (20) is deformed by force, so as to realize the measurement of multi-dimensional force.

2. A sensor device as claimed in claim 1, characterized in that: The flexible support structure (20) comprises a force receiving body (21) and a support seat (22) which are arranged in a matched manner, a receiving cavity is formed between the force receiving body (21) and the support seat (22), and the magnet (10) is arranged in the receiving cavity; The force receiving body (21) and the supporting seat (22) are made of flexible and deformable materials.

3. The sensor device according to claim 2, characterized in that The magnet (10) is enclosed in the flexible support structure (20) and is fixed relative to the flexible support structure (20).

4. The sensor device according to claim 2, characterized in that An accommodating groove (221) is provided at one end of the support seat (22) facing the force receiving body (21), and the magnet (10) is fixedly embedded in the accommodating groove (221) and covered by the force receiving body (21).

5. The sensor device according to claim 4, characterized in that The force receiving body (21) is provided with a curved force receiving surface portion (211), and the central axis of the force receiving surface portion (211) coincides with the central axis of the magnet (10).

6. The sensor device according to claim 1, characterized in that The hard supporting structure (30) is provided with a coupling groove (31), and the flexible supporting structure (20) is at least partially coupled to and fixed to the hard supporting structure (30) in a form-fitting manner.

7. The sensor device according to claim 6, characterized in that A first positioning portion (32) is provided on the hard supporting structure (30), and the first positioning portion (32) is arranged on the periphery of the engagement groove (31); The force receiving body (21) is provided with a second positioning portion (213) whose position and shape match those of the first positioning portion (32); One end of the support seat (22) is shaped to fit into the engagement groove (31), and the other end protrudes from the hard support structure (30); the force receiving body (21) covers the support seat (22) and is connected to the hard support structure (30) through the mutual cooperation of the first positioning portion (32) and the second positioning portion (213).

8. The sensor device according to claim 6, characterized in that One end of the support seat (22) is shaped to fit into the engagement groove (31), and the other end protrudes from the hard support structure (30); the force receiving body (21) covers the support seat (22) and encloses the support seat (22) and the hard support structure (30) therein.

9. The sensor device according to claim 6, characterized in that: The magnetic induction sensor (40) is arranged on a PCBA board (50) and is electrically connected to the PCBA board (50); the PCBA board (50) is fixedly arranged on a side of the hard supporting structure (30) opposite to the flexible supporting structure (20).

10. The sensor device according to claim 9, characterized in that A mounting groove (33) is provided on a side of the hard supporting structure (30) opposite to the engaging groove (31); the mounting groove (33) is connected to or isolated from the engaging groove (31); the PCBA board (50) is fixedly arranged at an open portion of the mounting groove (33); and the magnetic induction sensor (40) is located in the mounting groove (33).

11. The sensor device according to claim 10, characterized in that A third positioning portion (34) is provided on the hard supporting structure (30), and a fourth positioning portion (51) is provided on the PCBA board (50), and the third positioning portion (34) cooperates with the fourth positioning portion (51).

12. A force measurement method, used in the sensor device according to any one of claims 1 to 11, characterized in that: It includes the following steps: Applying a plurality of forces of different directions and magnitudes to the sensing device, and collecting voltage data corresponding to the forces output by the magnetic induction sensor (40); Calibrate the force and voltage data in a coordinate system; Fitting the calibrated data to determine the mathematical expression used to describe the relationship between the force data and the voltage data; The force acting on the sensing device is determined based on the mathematical expression and the voltage data actually detected by the magnetic induction sensor (40).

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