Multi-dimensional force sensor

Abstract

The invention is suitable for the technical field of sensor manufacturing, and provides a multi-dimensional force sensor. Comprising a first elastic body which is internally provided with a mounting hole penetrating through two opposite surfaces; the second elastic body is arranged in the mounting hole, the second elastic body comprises a fixed table and a strain beam, and the strain beam is provided with a first end fixedly connected with the fixed table and a second end extending towards the first elastic body; the multiple strain beams are arranged in the circumferential direction of the fixed table at intervals. The strain gauge is at least attached to the strain beam, and the strain gauge is at least used for detecting the strain generated by the strain beam; wherein the first elastic body is provided with a first connecting structure, the second end of the strain beam is provided with a second connecting structure, and the first connecting structure and the second connecting structure are connected in a matched mode so that the second elastic body and the first elastic body can be fixedly connected. In the embodiment of the invention, the split type arrangement is adopted, so that the strain gauges can be automatically bound through the wire binding machine, and the stability and the efficiency of the wire binding quality of the strain gauges are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of sensor manufacturing, and in particular relates to a multi-dimensional force sensor. Background Art

[0002] The six-axis force sensor is a force sensor that can detect three force components and three torque components at the same time. The resultant force and torque can be obtained according to the force components and torque components in the X, Y, and Z directions. A plurality of measuring beams are arranged inside the six-axis force sensor, and the cross section of the measuring beam is rectangular. Each measuring beam includes four walls: upper, lower, left, and right, wherein the upper wall and the lower wall are two opposite walls, and the left wall and the right wall are two opposite walls. Usually, strain gauges are pasted on the upper, lower, left, and right walls of the measuring beam.

[0003] A strain gauge is a deformation sensor that can convert the strain on the measuring beam into an electrical signal output. Its working principle is to utilize the expansion and contraction of the sheet material to change its internal resistance value to generate an induction signal. The strain gauge is provided with leads, through which the induction signal generated by the strain gauge is output. At the same time, the leads are also tied. The binding wire is the wire connecting the strain gauge and the signal conditioner. The main purpose of the binding wire is to connect the leads of the strain gauge to the measurement circuit so that the resistance change caused by the deformation of the object can be accurately measured. In addition, the binding wire can also play a role in forming a bridge circuit and ensuring a stable connection. Therefore, the reliability of the binding wire setting affects the actual performance of the product.

[0004] In the related art, in order to realize automatic wire binding and improve the wire binding efficiency and the stability of wire binding quality, a wire binding machine is used for automatic wire binding. The wire binding machine uses up and down lifting motion to perform wire binding operations, but due to the limitations of the overall structure of the existing six-dimensional force sensor, all the wall surfaces on the measuring beam that need to be patched cannot be automatically bound by the wire binding machine. Summary of the invention

[0005] In view of this, the present invention provides a multi-dimensional force sensor to solve the problem that it is not possible to automatically bind wires to all wall surfaces that need to be patched.

[0006] To solve the above problems, the technical solution of the present invention is achieved as follows:

[0007] A multi-dimensional force sensor, characterized in that it includes: a first elastic body, which is provided with a mounting hole passing through two opposite surfaces; a second elastic body, which is arranged in the mounting hole, and the second elastic body includes a fixed platform and a strain beam, and the strain beam has a first end fixedly connected to the fixed platform and a second end extending toward the first elastic body; a plurality of strain beams are arranged at intervals along the circumference of the fixed platform; a strain gauge, which is at least attached to the strain beam, and the strain gauge is at least used to detect the strain generated by the strain beam; wherein a first connecting structure is provided on the first elastic body, and a second connecting structure is provided on the second end of the strain beam, and the first connecting structure and the second connecting structure are matched and connected to fix the second elastic body to the first elastic body.

[0008] In some embodiments, the number of the first connection structures is not less than the number of the strain beams.

[0009] In some embodiments, a mounting groove is formed on the first elastic body, and the first connecting structure is at least partially disposed in the mounting groove.

[0010] In some embodiments, the first connection structure includes: a connection block, which is arranged on the side wall of the first elastic body facing the mounting hole, and is used for the second end of the strain beam to abut; a first connection hole, which is opened on the connection block; wherein the second end of the strain beam is fixedly connected to the connection block through a connecting member, and one end of the connecting member is fixed in the first connection hole.

[0011] In some embodiments, the multi-dimensional force sensor further includes: a connecting head connected to the second end of the strain beam, the connecting head being used for fixed connection with the connecting block; wherein the second connecting structure is arranged on the connecting head.

[0012] In some embodiments, both ends of the connector extend in a direction perpendicular to the axis of the strain beam; wherein the second end of the strain beam is perpendicularly connected to the middle of the connector.

[0013] In some embodiments, the second connection structure includes: a connection platform, which is arranged on the connection head; a second connection hole, which is opened on the connection head and located in the connection platform; wherein the connection platform abuts against the connection block, and the connection member is passed through the first connection hole and the second connection hole.

[0014] In some embodiments, a positioning strip for abutting against a connecting block is provided on the connecting head, and the connecting platform is formed between the connecting head and the positioning strip; or a positioning strip is provided on the connecting block, and a limiting groove is formed between the positioning strip and the connecting block, and the connecting head is fixed in the limiting groove.

[0015] In some embodiments, a positioning structure is provided between the connecting block and the connecting head.

[0016] In some embodiments, the multi-dimensional force sensor also includes: a top cover, connected to the first elastomer through fasteners; a circuit board, connected to the first elastomer and / or the second elastomer, and the strain gauge is electrically connected to the circuit board; a sealing ring, arranged between the first elastomer and the top cover; a bottom plate, connected to the first elastomer; wherein the top cover and the bottom plate are respectively connected to opposite sides of the first elastomer to cover the mounting hole.

[0017] A multi-dimensional force sensor provided by an embodiment of the present invention includes a first elastic body, a second elastic body and a strain gauge. The first elastic body is provided with a mounting hole penetrating two opposite surfaces, the second elastic body is arranged in the mounting hole, and the second elastic body includes a fixed platform and a strain beam, the strain beam has a first end fixedly connected to the fixed platform and a second end extending toward the first elastic body, and the strain gauge is at least attached to the strain beam. By adopting the method of separately arranging the first elastic body and the second elastic body, the two are fixedly connected by the first connecting structure and the second connecting structure. Therefore, all strain gauges attached to the walls of the strain beam can be automatically tied by a wire binding machine, and after the binding is completed, the first elastic body and the second elastic body are assembled and connected as a whole. That is, the multi-dimensional force sensor adopts a split setting, so that the strain gauges on each wall of each strain beam can be automatically tied by the wire binding machine, thereby improving the stability and efficiency of the wire binding quality of each strain gauge, and thus the product quality of the multi-dimensional force sensor can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional schematic diagram of a multi-dimensional force sensor provided by an embodiment of the present invention;

[0019] Figure 2 is an exploded schematic diagram of a multi-dimensional force sensor provided by an embodiment of the present invention;

[0020] Figure 3 is an exploded schematic diagram of a first elastic body and a second elastic body provided in an embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the second elastomer provided in an embodiment of the present invention.

[0022] Description of reference numerals:

[0023] 1. Multi-dimensional force sensor; 10. Bottom plate; 11. First elastic body; 111. Mounting hole; 112. First connecting structure; 1121. Connecting block; 1122. First connecting hole; 113. Mounting groove; 12. Second elastic body; 121. Fixing platform; 122. Strain beam; 123. Second connecting structure; 1231. Connecting platform; 1232. Second connecting hole; 124. Connector; 13. Strain gauge; 14. Connector; 15. Positioning strip; 16. Positioning structure; 17. Top cover; 171. Fastener; 18. Cable; 19. Sealing ring. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] The various specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, various possible combinations of the specific technical features in the present invention will not be described separately.

[0026] In the following description, the terms "first\second\..." are only used to distinguish different objects, and do not mean that the objects have the same or related points. It should be understood that the directions "above", "below", "outside" and "inside" are all directions in normal use, and the directions "left" and "right" refer to the left and right directions shown in the corresponding schematic diagrams, which may or may not be the left and right directions in normal use.

[0027] It should be noted that the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0028] like Figure 1 and Figure 2As shown, a multi-dimensional force sensor 1 provided in an embodiment of the present invention is used to detect the force condition of the installed object. The multi-dimensional force sensor 1 refers to a force sensor that can simultaneously measure force and torque components in more than two directions. In the Cartesian coordinate system, the force and torque can be decomposed into three components respectively. Therefore, the most complete form of multi-dimensional force is a six-dimensional force / torque sensor, that is, a sensor that can simultaneously measure three force components (Fx, Fy, Fz) and three torque components (Mx, My, Mz). For the sake of explanation, in the embodiment of the present invention, an elastomer is used in a six-dimensional force sensor for explanation, but the scope of application of the elastomer is not limited.

[0029] Specifically, Figure 1 and Figure 2 As shown, the multi-dimensional force sensor 1 is set in the detection environment. By transmitting the force in the detection environment to the multi-dimensional force sensor 1, the multi-dimensional force sensor 1 is deformed to a certain extent under the action of the external force. By detecting the degree of deformation (also called strain), the change of the current force can be known. The detection of the strain condition of the multi-dimensional force sensor 1 is achieved through the strain gauge 13 inside the multi-dimensional force sensor 1. The strain gauge 13 is usually made of a conductor or semiconductor material with a sensitive grid structure, and is used to measure the strain. When the strain gauge 13 is mechanically deformed under the action of external force, its resistance value changes accordingly. This phenomenon is called "strain effect". When in use, the strain gauge 13 is pasted on the detection point of the component (such as a strain beam). After the component is subjected to force, the strain occurs at the detection point, and the sensitive grid is also deformed, causing its resistance to change. The resistance change is then measured by the detection instrument and converted into the strain value of the detection point, so that the force condition of the detection point can be known.

[0030] The sensitive grid of the strain gauge 13 is a group of parallel wires arranged in a zigzag manner by a narrow conductor strip. This arrangement can accumulate small deformations in the baseline direction to form a larger cumulative value of resistance change. The specific detection principle of the strain gauge 13 is to utilize the physical and geometric properties of the conductor. When a conductor is stretched by external force within its elastic limit, it will not be broken or permanently deformed but will become narrower and longer. This deformation causes its end resistance to increase. On the contrary, when a conductor is compressed, it will become wider and shorter. This deformation causes its end resistance to decrease. By measuring the resistance of the strain gauge 13, the strain in its covered area can be calculated.

[0031] Specifically, for the strain detection of the strain beam, the accuracy of the position of the strain gauge 13 attached to the strain beam and the reliability of the output of the detection signal of the strain gauge 13 affect the final result. The accuracy of the position of the strain gauge 13 can be controlled during manufacturing. For the reliable output of the detection signal of the strain gauge 13, it is necessary to ensure that the strain signal generated by the strain gauge 13 can be stably output. Therefore, the lead wire set on the strain gauge 13 should be reliably electrically connected to the signal processing circuit board, or when multiple strain gauges 13 are set for joint detection, the strain gauges 13 that need to be electrically connected should be reliably electrically connected to form a Wheatstone bridge. Usually, due to the limitation of the lead length or material properties, the lead wire should not be set too long, so the lead wire also needs to be electrically connected to the signal processing circuit board or other strain gauges 13 at a distance by means of a binding wire (such as silver wire or silver-plated copper wire). Specifically, the lead wire is electrically connected to the binding wire, and then the binding wire is electrically connected to the object to be conducted.

[0032] Specifically, in order to achieve the stability of wire binding quality and improve the efficiency of wire binding, automatic wire binding is performed by using a wire binding machine, that is, the strain gauge 13 is pasted on the strain beam, and then the strain beam is placed under the wire binding machine. The wire binding machine can automatically bind the strain gauge 13 that needs to be bound according to a preset control program, thereby better achieving the stability of wire binding quality and improving the efficiency of wire binding.

[0033] When a wire binding machine with a conventional structure performs automatic wire binding, its wire binding component (chopping knife) moves up and down to bind the strain gauge 13 located below the wire binding component. In this way, the part of the strain gauge 13 that needs to be bound needs to be directly opposite the wire binding component. The interior of the multi-dimensional force sensor 1 is usually hollowed out to form a strain beam with a structure similar to a "cross" or "M" shape. The cross-section of the strain beam is rectangular, and strain gauges 13 need to be affixed to the four walls of the measuring beam. In this way, when the strain gauges 13 on the four walls are automatically bound by the wire binding machine, the upper and lower walls in the thickness direction can be automatically bound by swapping their positions and placing them horizontally, while the walls on the left and right sides cannot be directly opposite the wire binding component due to the obstruction of the external structure of the multi-dimensional force sensor 1. Therefore, automatic wire binding cannot be achieved by the wire binding machine.

[0034] Based on this, Figure 1 and Figure 2As shown, the multi-dimensional force sensor 1 provided in the embodiment of the present invention comprises a first elastic body 11, a second elastic body 12 and a strain gauge 13. The first elastic body 11 is provided with a mounting hole 111 penetrating two opposite surfaces, and the second elastic body 12 is arranged in the mounting hole 111. The second elastic body 12 comprises a fixing platform 121 and a strain beam 122, wherein the strain beam 122 has a first end fixedly connected to the fixing platform 121 and a second end extending toward the first elastic body 11; a plurality of strain beams 122 are arranged at intervals along the circumference of the fixing platform 121. The strain gauge 13 is at least attached to the strain beam 122, and the strain gauge 13 is at least used to detect the strain of the strain beam 122. Specifically, the shape of the first elastic body 11 can be set to a shape such as a circular or multi-deformed shape according to the design requirements or the product installation requirements, and the contour shape of the internal mounting hole 111 can be set to match the contour shape of the second elastic body 12, or it can be other shapes, provided that the installation of the second elastic body 12 is satisfied. Furthermore, a first connection structure 112 is provided on the first elastic body 11, and a second connection structure 123 is provided on the second end of the strain beam 122. The first connection structure 112 and the second connection structure 123 are connected in cooperation to fix the second elastic body 12 with the first elastic body 11. That is, the first elastic body 11 and the second elastic body 12 are designed as separate parts, and the first connection structure 112 and the second connection structure 123 are respectively provided, so that the first elastic body 11 and the second elastic body 12 can be fixedly connected as a whole by connecting the first connection structure 112 and the second connection structure 123 in cooperation.

[0035] Specifically, the strain beam 122 is connected between the first elastic body 11 and the fixed platform 121, and the strain gauge 13 is attached to the strain beam 122. In this way, the forces acting on the first elastic body 11 and / or the fixed platform 121 can be transmitted to the strain beam 122, and then the strain information can be obtained by detecting through the strain gauge 13. Optionally, the cross-sectional shape of the strain beam 122 in the vertical axial direction is a rectangle, including four walls: upper, lower, left, and right, wherein the upper wall and the lower wall are two opposite walls, located on two opposite surfaces in the same thickness direction as the first elastic body 11; the left wall and the right wall are two opposite walls, located on two opposite surfaces perpendicular to the thickness direction of the first elastic body 11. Usually, strain gauges 13 are attached to the upper, lower, left, and right four walls of the strain beam 122. In this way, the strain gauges 13 located on the upper and lower walls can be bound by a wire binding machine, while the strain gauges 13 located on the left and right walls cannot be bound by a wire binding machine due to the shielding of the first elastic body 11. Figure 2As shown, in the embodiment of the present invention, the first elastic body 11 and the second elastic body 12 are separately set. In this way, since the second elastic body 12 is an independent component, when the strain gauge 13 on the strain beam 122 is wired, the position of each wall surface of the strain beam 122 can be adjusted arbitrarily, and the first elastic body 11 will not cause interference or obstruction. That is, the multi-dimensional force sensor 1 is separately set, and the strain gauges 13 on each wall surface of the strain beam 122 can be automatically wired by a wire binding machine, thereby improving the stability and efficiency of the wire binding quality of each strain gauge 13, and further improving the product quality of the multi-dimensional force sensor 1.

[0036] In the embodiment of the present invention, the first elastic body 11 and the second elastic body 12 are separately arranged, so that after the strain gauge 13 arranged on the second elastic body 12 is automatically tied by the wire binding machine, the second elastic body 12 is fixedly connected to the first elastic body 11, thereby avoiding the first elastic body 11 from blocking the wire binding operation during the automatic wire binding. The problem that the strain gauges 13 on all walls cannot be automatically tied due to the integrated arrangement of the first elastic body 11 and the second elastic body 12 is well solved. Moreover, the separate arrangement of the first elastic body 11 and the second elastic body 12 is also convenient for later inspection and maintenance.

[0037] In some embodiments, the first connection structure 112 and the second connection structure 123 can be a mutually connectable snap-fit ​​structure, or a plug-in fixed structure, or a structure group connected by screw-like fasteners. The specific arrangement method can be such that the first elastic body 11 and the second elastic body 12 can be reliably assembled and connected.

[0038] In some embodiments, there are multiple strain beams 122 connected between the first elastic body 11 and the fixed platform 121, which may be three, four, or more, and the strain beams 122 are evenly distributed along the circumferential direction of the fixed platform 121. Thus, multi-position detection can be achieved in the circumferential direction, and the detection sensitivity can be improved.

[0039] In some embodiments, the fixing platform 121 is disposed in the mounting hole 111 and is coaxially disposed with the first elastic body 11. In this way, the lengths of the strain beams 122 remain equal. In other embodiments, under the premise of meeting the detection requirements, the fixing platform 121 and the first elastic body 11 may also be non-coaxially disposed, and the fixing platform 121 and the first elastic body 11 may be partially in direct contact, and the rest of the parts may be spaced apart, and the strain beams 122 may be disposed in the spaced-apart areas therebetween. The shape of the fixing platform 121 is not specifically limited, and it is preferred to be able to meet the requirements of assembly and improve support.

[0040] A multi-dimensional force sensor 1 provided in an embodiment of the present invention includes a first elastic body 11, a second elastic body 12 and a strain gauge 13. The first elastic body 11 is provided with a mounting hole 111 penetrating two opposite surfaces, the second elastic body 12 is arranged in the mounting hole 111, and the second elastic body 12 includes a fixing platform 121 and a strain beam 122, the strain beam 122 has a first end fixedly connected to the fixing platform 121 and a second end extending toward the first elastic body 11, and the strain gauge 13 is at least attached to the strain beam 122. By adopting the method of separately arranging the first elastic body 11 and the second elastic body 12, the two are fixedly connected by the first connecting structure 112 and the second connecting structure 123. Therefore, when the strain gauges 13 attached to the walls of the strain beam 122 are automatically wired by the wire binding machine, since the second elastic body 12 is set separately, the position interference of the first elastic body 11 is avoided, and the position of the second elastic body 12 can be adjusted arbitrarily, so that the strain gauges 13 on the walls of the strain beam 122 can be automatically wired, and after the wire binding is completed, the first elastic body 11 and the second elastic body 12 are assembled and connected as a whole. That is, the multi-dimensional force sensor 1 adopts a split setting, so that the strain gauges 13 on each wall of each strain beam 122 can be automatically wired by the wire binding machine, thereby improving the stability and efficiency of the wire binding quality of each strain gauge 13, and thus the product quality of the multi-dimensional force sensor 1 can also be improved.

[0041] In some embodiments, since each strain beam 122 needs to be fixedly connected to the first elastic body 11, the number of the first connection structures 112 is not less than the number of the strain beams 122. That is, the number of the first connection structures 112 provided on the first elastic body 11 can correspond to the number of the strain beams 122 one by one, and the number can be kept equal. Alternatively, the number of the first connection structures 112 can be set to be greater than the number of the strain beams 122. In this way, the installation position of the second elastic body 12 can be adjusted according to assembly requirements, thereby improving the flexibility of the fixed connection between the first elastic body 11 and the second elastic body 12.

[0042] In some embodiments, after the first elastic body 11 and the second elastic body 12 are fixedly connected, the strain beam 122 may be consistent with the first elastic body 11 in the thickness direction. Thus, the upper and lower end surfaces of the first elastic body 11 are respectively flush with the upper and lower end surfaces of the strain beam 122. Of course, the strain beam 122 may also be lower than the height of the first elastic body 11 in the thickness direction. In this way, the cross-sectional area of ​​the strain beam 122 is smaller, and it is easier to deform, thereby improving the sensitivity of detection.

[0043] In some embodiments, Figure 3As shown, a mounting groove 113 is provided on the first elastomer 11, and the first connecting structure 112 is at least partially arranged in the mounting groove 113. Specifically, the mounting groove 113 is provided on the side wall surface inside the first elastomer 11, and is connected with the mounting hole 111. Therefore, after the second elastomer 12 is fixedly connected, it is located in the radial direction of the first elastomer 11. That is, the second elastomer 12 after installation is located in the area of ​​the mounting hole 111, which improves the compactness of the overall structure. The setting of the mounting groove 113 can not only provide assembly position guidance for the second elastomer 12 during assembly, but also at least a part of the second end of the strain beam 122 is located in the mounting groove 113. The mounting position is limited by the mounting groove 113, which further improves the stability of the assembly connection between the first elastomer 11 and the second elastomer 12.

[0044] In some embodiments, Figure 3 As shown, the first connection structure 112 includes a connection block 1121 and a first connection hole 1122. The connection block 1121 is arranged on the side wall of the first elastic body 11 facing the mounting hole 111, and the connection block 1121 is used for the second end of the strain beam 122 to abut. The first connection hole 1122 is provided on the connection block 1121. The second end of the strain beam 122 is fixedly connected to the connection block 1121 through a connecting member 124, and one end of the connecting member 124 is fixed in the first connection hole 1122. In this way, the second end of the strain beam 122 is abutted against the connection block 1121, and then one end of the connecting member 124 is passed through the second end of the strain beam 122 and inserted into the first connection hole 1122. Under the tightening action of the connecting member 124, the second end of the strain beam 122 can be fixedly connected to the connection block 1121. Specifically, the connection between the connecting member 124 and the first connecting hole 1122 can be an interference fit connection or a threaded connection, and the connection is stable and reliable.

[0045] In some embodiments, Figure 2 and Figure 3 As shown, the multi-dimensional force sensor 1 also includes a connector 14. The connector 14 is connected to the second end of the strain beam 122, and the connector 14 is used to be fixedly connected to the connecting block 1121, and the second connecting structure 123 is arranged on the connector 14. Specifically, in the cross section obtained perpendicular to the axial direction of the strain beam 122, the cross-sectional area of ​​the connector 14 is larger than the cross-sectional area of ​​the strain beam 122. In this way, by arranging the connector 14 on the second end of the strain beam 122, the contact area with the connecting block 1121 can be increased, which can not only improve the stability of the connection, but also have a larger contact area to transmit the force borne on the first elastic body 11, thereby improving the sensitivity of the detection.

[0046] In some embodiments, Figure 2 and Figure 3As shown, both ends of the connector 14 extend in a direction perpendicular to the axis of the main body; wherein the second end of the strain beam 122 is vertically connected to the middle of the connector 14. The middle refers to the middle area of ​​the connector 14 in the length direction, which can be the midpoint of the length dimension, or it can be symmetrically extended to both sides with the midpoint as the center. This arrangement enables the strain beam 122 to be evenly stressed and maintains the same detection sensitivity at both ends of the connector 14. Moreover, the symmetrically arranged connector 14 can also facilitate production and assembly for greater stability. Under this arrangement, along the radial direction of the fixed platform 121, the cross-sectional shape formed by the combination of the strain beam 122 and the connector 14 is a "T". Of course, in some other embodiments, the shape of the connector 14 and the connection method between the connector 14 and the second end of the strain beam 122 can also be set to other forms. For example, along the radial direction of the fixed platform 121, the cross-sectional shape formed by the combination of the strain beam 122 and the connector 14 is "L" shaped, or other shapes, as long as it meets the detection requirements, the strain gauge 13 can be attached, and the automatic wire binding of the wire binding machine can be performed.

[0047] In some embodiments, Figure 3 and Figure 4 As shown, the second connection structure 123 includes a connection platform 1231 and a second connection hole 1232. The connection platform 1231 is arranged on the connection head 14, and the second connection hole 1232 is opened on the connection head 14 and is located in the connection platform 1231. When connected, the connection platform 1231 abuts against the connection block 1121, and the connection member 124 is inserted in the first connection hole 1122 and the second connection hole 1232. That is, a fixed connection between the connection head 14 and the connection block 1121 can be achieved. Specifically, at least the part of the connection member 124 inserted in the first connection hole 1122 is threadedly connected or interference fit with the first connection hole 1122 to maintain the firmness of the connection position. The connection head 14 after fixed connection is also located in the mounting groove 113, so that the installation position of the connection head 14 can be limited by the mounting groove 113, which improves the stability of the position after fixed connection.

[0048] In some embodiments, Figure 3 and Figure 4 As shown, the connector 14 is provided with a positioning strip 15 for contacting with the connector block 1121, and the connector platform 1231 is formed between the connector 14 and the positioning strip 15; or the connector block 1121 is provided with a positioning strip 15, and a limiting groove is formed between the positioning strip 15 and the connector block 1121, and the connector 14 is fixed in the limiting groove. In this way, the assembly position between the connector block 1121 and the connector 14 is limited by the positioning strip 15, which can play the role of guiding the installation position and limiting the position after installation, thereby improving the assembly efficiency and reliability.

[0049] In some embodiments, Figure 3 As shown, a positioning structure 16 is provided between the connection block 1121 and the connector 14. The positioning structure 16 can be a positioning hole provided on any one of the connection block 1121 and the connector 14, and a positioning pin provided on the other one of the connection block 1121 and the connector 14. The positioning pin is inserted into the positioning hole to achieve a positioning connection. Of course, the positioning structure 16 can also be a positioning groove provided on any one of the connection block 1121 and the connector 14, and a positioning protrusion provided on the other one of the connection block 1121 and the connector 14. The positioning protrusion is inserted into the positioning groove to achieve a positioning connection. Through the provision of the positioning structure 16, the positional offset between the first elastomer 11 and the second elastomer 12 is better avoided, and the stability of the assembly connection between the first elastomer 11 and the second elastomer 12 is further improved.

[0050] In some embodiments, Figure 1 and Figure 2 As shown, the multi-dimensional force sensor 1 also includes a top cover 17, a circuit board (not shown in the figure), a sealing ring 19 and a bottom plate 10. The top cover 17 is connected to the first elastic body 11 through a fastener 171; the circuit board is connected to the first elastic body 11 and / or the second elastic body 12, and the strain gauge 13 is electrically connected to the circuit board. The sealing ring 19 is arranged between the first elastic body 11 and the top cover 17, and the gap between the first elastic body 11 and the top cover 17 is sealed by the sealing ring 19, so as to at least play a role of dustproof and waterproof. The bottom plate 10 is connected to the first elastic body 11, so that the top cover 17 and the bottom plate 10 are respectively connected to the opposite sides of the first elastic body 11 to cover the mounting hole 111. Specifically, the top cover 17 is fixedly connected to the first elastic body 11 through a bolt or screw fastener 171, so as to form a cavity between the two, and the circuit board is arranged in the cavity, which can be fixed on the first elastic body 11, or fixed on the second elastic body 12, or connected to the first elastic body 11 and the second elastic body 12 at the same time. The strain gauge 13 is electrically connected to the circuit board, so that the strain signal generated by the strain gauge 13 can be transmitted to the circuit board, and can be converted into usable strain data after being processed by the electrical components arranged on the circuit board. The circuit board is connected to an external measuring instrument through a cable 18, so that the strain data converted by the circuit board can be transmitted to the measuring instrument, thereby realizing the corresponding strain detection.

[0051] Specifically, the first elastic body 11 is fixed on the installation object, and the top cover 17 is fixedly connected to the first elastic body 11 through the fastener 171. In this way, the first elastic body 11 can directly receive the force on the installation object, and can also transmit the force through the top cover 17 and / or the fastener 171, so as to realize detection in multiple directions, so that the multi-dimensional force sensor 1 has a higher detection sensitivity.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-dimensional force sensor, characterized in that: include: The first elastic body is provided with mounting holes penetrating two opposite surfaces; A second elastic body, arranged in the mounting hole, the second elastic body comprising a fixing platform and a strain beam, the strain beam having a first end fixedly connected to the fixing platform and a second end extending toward the first elastic body; a plurality of strain beams are arranged at intervals along the circumference of the fixing platform; A strain gauge, at least attached to the strain beam, the strain gauge is at least used to detect the strain generated by the strain beam; The first elastic body is provided with a first connection structure, the second end of the strain beam is provided with a second connection structure, and the first connection structure and the second connection structure are connected in cooperation to fix the second elastic body to the first elastic body.

2. The multi-dimensional force sensor according to claim 1, characterized in that: The number of the first connection structures is not less than the number of the strain beams.

3. The multi-dimensional force sensor according to claim 1, characterized in that: The first elastic body is provided with a mounting groove, and the first connecting structure is at least partially disposed in the mounting groove.

4. The multi-dimensional force sensor according to claim 1, characterized in that: The first connection structure comprises: A connecting block, arranged on a side wall of the first elastic body facing the mounting hole, the connecting block being used for abutting the second end of the strain beam; A first connecting hole, provided on the connecting block; Wherein, the second end of the strain beam is fixedly connected to the connection block through a connecting member, and one end of the connecting member is fixed in the first connection hole.

5. The multi-dimensional force sensor according to claim 4, characterized in that: The multi-dimensional force sensor also includes: A connector, connected to the second end of the strain beam, the connector being used for fixed connection with the connecting block; Wherein, the second connection structure is arranged on the connection head.

6. The multi-dimensional force sensor according to claim 5, characterized in that: The two ends of the connecting head extend in a direction perpendicular to the axis of the strain beam; wherein the second end of the strain beam is perpendicularly connected to the middle of the connecting head.

7. The multi-dimensional force sensor according to claim 5, characterized in that: The second connection structure comprises: A connecting platform, arranged on the connecting head; A second connection hole is provided on the connection head and is located in the connection platform; Wherein, the connecting platform is in contact with the connecting block, and the connecting member is inserted into the first connecting hole and the second connecting hole.

8. The multi-dimensional force sensor according to claim 7, characterized in that: The connector is provided with a positioning strip for abutting against the connector block, and the connector platform is formed between the connector and the positioning strip; or the connector block is provided with a positioning strip, and a limiting groove is formed between the positioning strip and the connector block, and the connector is fixed in the limiting groove.

9. The multi-dimensional force sensor according to claim 5, characterized in that: A positioning structure is arranged between the connecting block and the connecting head.

10. The multi-dimensional force sensor according to any one of claims 1 to 9, characterized in that: The multi-dimensional force sensor also includes: A top cover connected to the first elastic body via a fastener; A circuit board connected to the first elastic body and / or the second elastic body, wherein the strain gauge is electrically connected to the circuit board; A sealing ring, arranged between the first elastic body and the top cover; A bottom plate connected to the first elastic body; Wherein, the top cover and the bottom plate are respectively connected to opposite sides of the first elastic body to cover the mounting hole.

Images