Multi-dimensional force sensor

Abstract

The present invention is applicable to the field of sensor manufacturing technology, and provides a multi-dimensional force sensor. It comprises: a first elastic body, which is provided with a mounting hole passing through two opposite sides; a second elastic body, which is provided in the mounting hole, and the second elastic body comprises 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 provided 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 connected in cooperation to fixedly connect the second elastic body to the first elastic body. In the embodiment of the present invention, a split setting is adopted, so that each strain gauge can be automatically bound by a wire binding machine, thereby improving the stability and efficiency of the wire binding quality of each strain gauge.

Description

Technical Field

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

[0002] A six-axis force sensor can simultaneously detect three force components and three torque components. The resultant force and torque can be derived from the force and torque components in the X, Y, and Z directions. A six-axis force sensor is internally equipped with multiple measuring beams, each with a rectangular cross-section. Each measuring beam has four walls: top, bottom, left, and right. The top and bottom walls are opposite each other, while the left and right walls are opposite each other. Strain gauges are typically attached to each of these four walls.

[0003] A strain gauge is a deformation sensor that converts the strain on a measuring beam into an electrical signal. It operates by utilizing the expansion and contraction of the sheet material, which changes its internal resistance and generates a induced signal. The strain gauge is equipped with leads, which transmit the induced signal. These leads are also tied together. Ties connect the strain gauge to the signal conditioner. The primary purpose of these ties is to connect the strain gauge leads to the measurement circuit, enabling accurate measurement of resistance changes caused by deformation. Ties also form a bridge circuit and ensure a stable connection. Therefore, the reliability of the tie setup impacts the actual performance of the product.

[0004] To achieve automated wire binding, improve efficiency, and maintain quality, wire binding machines are used in related technologies. These machines use an up-and-down motion to perform wire binding operations. However, due to the structural limitations of existing six-dimensional force sensors, they cannot automatically bind all the wall surfaces on the measurement beam that require patching. 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 walls that require patching.

[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, having a mounting hole provided therein and passing through two opposite surfaces; a second elastic body, arranged in the mounting hole, the second elastic body including a fixed platform and a strain beam, the strain beam having 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, at least attached to the strain beam, the strain gauge being 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, the first connecting structure and the second connecting structure are cooperatively 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 defined 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 configured to be fixedly connected to the connecting block; wherein the second connecting structure is provided 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 portion 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 bar for abutting against the connecting block is provided on the connecting head, and the connecting platform is formed between the connecting head and the positioning bar; or a positioning bar is provided on the connecting block, and a limiting groove is formed between the positioning bar 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 further includes: a top cover, connected to the first elastomer via 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; and 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 provided in the mounting hole, and the second elastic body includes a fixed platform and a strain beam, the strain beam having 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 setting the first elastic body and the second elastic body separately, the two are fixedly connected by the first connecting structure and the second connecting structure. Therefore, all the strain gauges attached to the walls of the strain beam can be automatically bound by a wire binding machine, and after the binding is completed, the first elastic body and the second elastic body are assembled and connected into one body. 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 bound by the wire binding machine, thereby improving the stability and efficiency of the binding quality of each strain gauge, thereby improving the product quality of the multi-dimensional force sensor. 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 Schematic diagram of the structure of the second elastic body provided by an embodiment of the present invention.

[0022] Description of reference numerals:

[0023] 1. Multi-dimensional force sensor; 10. Base plate; 11. First elastic body; 111. Mounting hole; 112. First connecting structure; 1121. Connecting block; 1122. First connecting hole; 113. Mounting slot; 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 solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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 may be combined in any suitable manner, unless they are inconsistent. For example, different embodiments and technical solutions may be formed by combining different specific technical features. To avoid unnecessary repetition, the 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 used solely to distinguish different objects and do not imply any similarities or connections between the objects. It should be understood that the directional descriptions "above," "below," "outside," and "inside" refer to directions during normal use. The directions "left" and "right" refer to the left-right directions shown in the corresponding schematic diagrams, which may or may not be the left-right directions during normal use.

[0027] It should be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element. "A plurality" 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 conditions 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 each be decomposed into three components. 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 purpose of explanation, in the embodiment of the present invention, an elastomer is used in a six-dimensional force sensor for explanation, but this does not limit the scope of application of the elastomer.

[0029] Specifically, if Figure 1 and Figure 2 As shown, the multi-dimensional force sensor 1 is set in a detection environment. By transmitting the force in the detection environment to the multi-dimensional force sensor 1, the multi-dimensional force sensor 1 undergoes a certain deformation under the action of the external force. By detecting the degree of deformation (also known as strain), the change in the current force can be determined. The strain condition of the multi-dimensional force sensor 1 is detected by the strain gauge 13 inside the multi-dimensional force sensor 1. The strain gauge 13 is usually made of a conductor or semiconductor material and has a sensitive grid structure, which is used to measure strain. When the strain gauge 13 undergoes mechanical deformation under the action of external force, its resistance value changes accordingly. This phenomenon is called the "strain effect". When in use, the strain gauge 13 is attached to the detection point of a component (such as a strain beam). When the component is subjected to force, the strain at the detection point occurs, and the sensitive grid also deforms, causing its resistance to change. The detection instrument then measures the resistance change and converts it into the strain value of the detection point, thereby determining the force condition at the detection point.

[0030] The sensitive grid of the strain gauge 13 is a group of parallel wires arranged in a zigzag pattern from a narrow conductor strip. This arrangement can accumulate small deformations in the baseline direction to form a larger cumulative resistance change value. 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 an 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. Conversely, 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 the area it covers can be calculated.

[0031] Specifically, for strain detection on a strain beam, the accuracy of the position of the strain gauge 13 attached to the strain beam and the reliability of the detection signal output by the strain gauge 13 affect the final result. The accuracy of the position of the strain gauge 13 can be controlled during manufacturing. To reliably output the detection signal from the strain gauge 13, it is necessary to ensure that the strain signal generated by the strain gauge 13 can be stably output. Therefore, a reliable electrical connection should be established between the leads provided on the strain gauge 13 and the signal processing circuit board. Alternatively, when multiple strain gauges 13 are provided for joint detection, a reliable electrical connection should be maintained between the strain gauges 13 that need to be electrically connected to form a Wheatstone bridge. Typically, due to limitations in lead length or material properties, the leads should not be too long. Therefore, the leads must be electrically connected to the signal processing circuit board or other strain gauges 13 located farther away using binding wires (such as silver wire or silver-plated copper wire). Specifically, the leads are electrically connected to the binding wires, which are then 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 the 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 (chopper) 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 being placed horizontally by swapping their positions. However, 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 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 extending through two opposing surfaces. The second elastic body 12 is disposed within the mounting hole 111. The second elastic body 12 includes a fixing base 121 and a strain beam 122. The strain beam 122 has a first end fixedly connected to the fixing base 121 and a second end extending toward the first elastic body 11. Multiple strain beams 122 are provided at intervals along the circumference of the fixing base 121. The strain gauge 13 is at least attached to the strain beam 122 and is used to detect the strain generated by the strain beam 122. Specifically, the shape of the first elastic body 11 can be configured to have a circular or multi-shaped outer contour, such as a circular shape, based on design requirements or product installation requirements. The contour of the internal mounting hole 111 can be configured to match the contour of the second elastic body 12, provided that the second elastic body 12 is installed properly. Alternatively, the contour of the internal mounting hole 111 can be configured to match the contour of the second elastic body 12, or it can have other shapes. Furthermore, a first connecting structure 112 is provided on the first elastic body 11, and a second connecting structure 123 is provided on the second end of the strain beam 122. The first connecting structure 112 and the second connecting structure 123 cooperate to connect and securely connect the second elastic body 12 to the first elastic body 11. In other words, the first elastic body 11 and the second elastic body 12 are designed as separate components, each of which is provided with the first connecting structure 112 and the second connecting structure 123. Thus, by cooperating and connecting the first connecting structure 112 and the second connecting structure 123, the first elastic body 11 and the second elastic body 12 are securely connected and secured together.

[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 detection through the strain gauge 13. Optionally, the cross-sectional shape of the strain beam 122 in the vertical axial direction is rectangular, 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. Typically, strain gauges 13 are attached to the upper, lower, left, and right walls of the strain beam 122. In this way, the strain gauges 13 on the upper and lower walls can be bound by a wire binding machine, while the strain gauges 13 on the left and right walls cannot be bound by a wire binding machine due to being blocked by the first elastic body 11. Figure 2As shown, in this embodiment of the present invention, the first elastic body 11 and the second elastic body 12 are separately provided. Since the second elastic body 12 is an independent component, the position of each wall surface of the strain beam 122 can be arbitrarily adjusted when binding the strain gauges 13 on the strain beam 122, without causing interference or obstruction by the first elastic body 11. In other words, the multi-dimensional force sensor 1 adopts a separate configuration, and the strain gauges 13 on each wall surface of the strain beam 122 can be automatically bound by a binding machine, thereby improving the stability and efficiency of the binding quality of each strain gauge 13, thereby also 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 provided, so that after the strain gauge 13 provided 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 blocking the wire binding operation during the automatic wire binding. This solves the problem that the strain gauge 13 on all wall surfaces cannot be automatically tied due to the integrated arrangement of the first elastic body 11 and the second elastic body 12. Moreover, the separate arrangement of the first elastic body 11 and the second elastic body 12 also facilitates subsequent inspection and maintenance.

[0037] In some embodiments, the first connection structure 112 and the second connection structure 123 can be a snap-fit ​​structure that can be connected to each other, or a structure that can be fixed by plugging, or a structure connected by screws. The specific arrangement 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, multiple strain beams 122 are provided 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 spaced along the circumference of the fixed platform 121. This allows for multi-position detection along the circumference, improving detection sensitivity.

[0039] In some embodiments, the fixing platform 121 is disposed in the mounting hole 111 and is coaxial with the first elastic body 11. This ensures that the lengths of the strain beams 122 remain equal. In other embodiments, provided that testing requirements are met, the fixing platform 121 and the first elastic body 11 may be non-coaxial. Furthermore, the fixing platform 121 and the first elastic body 11 may be partially in direct contact with each other and spaced apart from each other, with the strain beams 122 disposed in the spaced-apart region. The shape of the fixing platform 121 is not specifically limited, provided that it satisfies assembly requirements and provides enhanced 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 extending through two opposing surfaces. The second elastic body 12 is disposed within the mounting hole 111. The second elastic body 12 further 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. The strain gauge 13 is at least attached to the strain beam 122. By adopting the separation of the first elastic body 11 and the second elastic body 12, the first and second connecting structures 112 and 123 are further used to achieve a fixed connection between the two. Therefore, when the strain gauges 13 attached to the walls of the strain beam 122 are automatically wire-bound by the wire-binding machine, since the second elastic body 12 is separately provided, interference with the position of the first elastic body 11 is avoided. The position of the second elastic body 12 can be arbitrarily adjusted so that the strain gauges 13 on each wall of the strain beam 122 can be automatically wire-bound. After the wire-binding is completed, the first elastic body 11 and the second elastic body 12 are assembled and connected to form a whole. That is, the multi-dimensional force sensor 1 adopts a split-type arrangement, so that the strain gauges 13 on each wall of the strain beam 122 can be automatically wire-bound by the wire-binding machine, thereby improving the stability and efficiency of the wire-binding quality of each strain gauge 13, and thus improving the product quality of the multi-dimensional force sensor 1.

[0041] In some embodiments, since each strain beam 122 needs to be fixedly connected to the first elastic body 11, the number of first connecting structures 112 provided is not less than the number of strain beams 122. That is, the number of first connecting structures 112 provided on the first elastic body 11 can correspond one-to-one with the number of strain beams 122, maintaining an equal number. Alternatively, the number of first connecting structures 112 can be greater than the number of strain beams 122. This allows the installation position of the second elastic body 12 to be adjusted according to assembly requirements, thereby increasing 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 can be aligned with the first elastic body 11 in the thickness direction. Thus, the upper and lower end surfaces of the first elastic body 11 are flush with the upper and lower end surfaces of the strain beam 122, respectively. Alternatively, the strain beam 122 can be lower than the height of the first elastic body 11 in the thickness direction. This reduces the cross-sectional area of ​​the strain beam 122, making it more susceptible to deformation and thereby improving detection sensitivity.

[0043] In some embodiments, as 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 to 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, as 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 the connection member 124, and one end of the connection member 124 is fixed in the first connection hole 1122. In this arrangement, the second end of the strain beam 122 is abutted against the connection block 1121, and then one end of the connection 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 connection 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, as Figure 2 and Figure 3 As shown, the multi-dimensional force sensor 1 further includes a connector 14. Connecting to the second end of the strain beam 122, the connector 14 is configured to be fixedly connected to the connecting block 1121. Furthermore, a second connecting structure 123 is disposed on the connector 14. Specifically, in a cross-section perpendicular to the axis of the strain beam 122, the cross-sectional area of ​​the connector 14 is greater than the cross-sectional area of ​​the strain beam 122. Thus, by providing the connector 14 on the second end of the strain beam 122, the contact area between the connector 14 and the connecting block 1121 is increased, thereby improving the stability of the connection and providing a larger contact area to transmit the force acting on the first elastic body 11, thereby enhancing detection sensitivity.

[0046] In some embodiments, as 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 symmetrical arrangement of the 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, can be used to attach the strain gauge 13, and can perform automatic wire binding by the wire binding machine.

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

[0048] In some embodiments, as Figure 3 and Figure 4 As shown, the connector 14 is provided with a positioning bar 15 for abutting the connecting block 1121, with the connecting platform 1231 formed between the connector 14 and the positioning bar 15. Alternatively, the connecting block 1121 is provided with a positioning bar 15, with a limiting groove formed between the positioning bar 15 and the connecting block 1121, within which the connector 14 is fixed. In this way, the positioning bar 15 defines the assembly position between the connecting block 1121 and the connector 14, serving as a guide for the installation position and limiting the position after installation, thereby improving assembly efficiency and reliability.

[0049] In some embodiments, as Figure 3 As shown, a positioning structure 16 is provided between the connecting block 1121 and the connecting head 14. The positioning structure 16 can be a positioning hole provided on any one of the connecting block 1121 and the connecting head 14, and a positioning pin provided on the other one of the connecting block 1121 and the connecting head 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 connecting block 1121 and the connecting head 14, and a positioning protrusion provided on the other one of the connecting block 1121 and the connecting head 14. The positioning protrusion is inserted into the positioning groove to achieve a positioning connection. By providing the positioning structure 16, the position 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, as Figure 1 and Figure 2 As shown, the multi-dimensional force sensor 1 also includes a top cover 17, a circuit board (not shown), a sealing ring 19, and a base plate 10. The top cover 17 is connected to the first elastic body 11 via fasteners 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 disposed between the first elastic body 11 and the top cover 17, sealing the gap between the first elastic body 11 and the top cover 17 to at least provide dustproof and waterproof functions. The base plate 10 is connected to the first elastic body 11, with the top cover 17 and the base plate 10 respectively connected to opposite sides of the first elastic body 11 to cover the mounting holes 111. Specifically, the top cover 17 is fixedly connected to the first elastic body 11 via fasteners such as bolts or screws 171, thereby forming a cavity between the two. The circuit board is disposed within this cavity and can be fixed to the first elastic body 11, the second elastic body 12, or both the first elastic body 11 and the second elastic body 12. Strain gauge 13 is electrically connected to the circuit board, allowing the strain signal generated by the strain gauge 13 to be transmitted to the circuit board. After processing by the electrical components installed on the circuit board, it can be converted into usable strain data. The circuit board is connected to an external measuring instrument via a cable 18, allowing the strain data converted by the circuit board to be transmitted to the measuring instrument, thereby realizing the corresponding strain detection.

[0051] Specifically, the first elastic body 11 is fixed to the mounting object, and the top cover 17 is fixedly connected to the first elastic body 11 via a fastener 171. In this way, the first elastic body 11 can directly receive the force applied to the mounting object, and can also transmit the applied force through the top cover 17 and / or the fastener 171, thereby achieving multi-directional detection and providing the multi-dimensional force sensor 1 with high 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 scope of protection 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 sides; a second elastic body disposed 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 being used to detect the strain generated by the strain beam; 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. The first connecting structure and the second connecting structure are connected in cooperation to fixedly connect the second elastic body to the first elastic body.

2. The multi-dimensional force sensor according to claim 1, wherein: 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, wherein: 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, wherein: The first connection structure includes: a connecting block, provided 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; 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, wherein: The multi-dimensional force sensor further 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, wherein: 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.

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

8. The multi-dimensional force sensor according to claim 7, wherein: The connecting head is provided with a positioning bar for abutting against the connecting block, and the connecting platform is formed between the connecting head and the positioning bar; or a positioning bar is provided on the connecting block, and a limiting groove is formed between the positioning bar and the connecting block, and the connecting head is fixed in the limiting groove.

9. The multi-dimensional force sensor according to claim 5, wherein: A positioning structure is provided 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 further 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, disposed between the first elastic body and the top cover; a bottom plate connected to the first elastic body; The top cover and the bottom plate are respectively connected to opposite sides of the first elastic body to cover the mounting hole.

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