Multi-dimensional force sensor device

Abstract

The invention, which relates to the technical field of the multi-dimensional force sensor, discloses a multi-dimensional force sensor device comprising a housing, a sensing assembly and an adjusting assembly. The sensing assembly comprises a multi-dimensional detection assembly arranged in the shell, and a reset assembly is arranged on the side face of the multi-dimensional detection assembly; the adjusting assembly comprises a diameter increasing assembly in sliding connection with the multi-dimensional detection assembly, and a power assembly is arranged on the side face of the diameter increasing assembly. The multi-dimensional detection assembly comprises a sliding part, a rotating part and a detection part, the sliding part is arranged in the shell, the rotating part is arranged on the side face of the sliding part, and the top end of the rotating part is fixedly connected with the detection part; the diameter increasing assembly comprises a stretching part and a pushing part, the stretching part is in sliding connection with the sliding part, and the pushing part is fixedly connected to the bottom end of the stretching part, the multi-dimensional force can be rapidly detected in different detection ranges, and the detection effect is improved.

Description

Technical Field

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

[0002] A multi-dimensional force sensor is a sensing device that can simultaneously measure forces or torques in multiple directions (such as the X, Y, and Z axes). Multi-dimensional force sensors are commonly used in surgical robots or rehabilitation equipment to achieve precise control and feedback of forces.

[0003] In the existing technology, traditional multi-dimensional force sensors usually work within a fixed range of measurement. However, when the applied force exceeds a certain range, they are prone to saturation or distortion, resulting in an inability to accurately measure forces in a larger range. For multi-dimensional force sensors with a larger measurement range, although they can withstand larger loads, their sensitivity is relatively low, and the accuracy decreases when detecting small force changes, making it difficult to meet the requirement for quickly sensing and measuring subtle force changes. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-dimensional force sensor device to solve the problem of being unable to quickly detect multi-dimensional forces within different detection ranges and reducing the detection effect.

[0005] To achieve this purpose, the present invention adopts the following technical solutions: A multi-dimensional force sensor device includes: a housing, a sensing component, and an adjusting component; The sensing component includes a multi-dimensional detection component disposed inside the housing. A reset component is provided on the side of the multi-dimensional detection component, and a contact component is fixedly connected to the top of the multi-dimensional detection component; the multi-dimensional detection component is used to detect the extrusion force contacted by the contact component; The adjusting component includes a diameter-increasing component slidably connected to the multi-dimensional detection component, and a power component is provided on the side of the diameter-increasing component; the diameter-increasing component is used to adjust the measurement range of the multi-dimensional detection component; The multi-dimensional detection component includes: a sliding part, a rotating part, and a detection part. The sliding part is disposed inside the housing, the rotating part is provided on the side of the sliding part, and the detection part is fixedly connected to the top of the rotating part; The diameter-increasing component includes: a stretching part and a pushing part. The stretching part is slidably connected to the sliding part, and the pushing part is fixedly connected to the bottom end of the stretching part.

[0006] Preferably, the rotating part includes: a first rack and a first gear. The sliding part is used to drive the first rack to move. The first rack meshes with the first gear. A second gear is provided on the side of the first gear. The second gear meshes with a second rack. A third rack is provided above the second rack, and the third rack meshes with a third gear.

[0007] Preferably, the detection unit includes: a first rotating rod and a first pointer. The bottom end of the first rotating rod is fixedly connected to a first gear, the top end of the first rotating rod is fixedly connected to the first pointer. Below the first pointer, there is a first scale disk sleeved on the surface of the first rotating rod. On the side of the first rotating rod, there is a second rotating rod fixedly connected to the top end of a second gear. The top end of the second rotating rod is fixedly connected to a second pointer. Below the second pointer, there is a second scale disk sleeved on the surface of the second rotating rod. Above the second rotating rod, there is a third rotating rod fixedly connected to the side of a third gear. The top end of the third rotating rod is fixedly connected to a third pointer. Below the third pointer, there is a third scale disk sleeved on the surface of the third rotating rod.

[0008] Preferably, the sliding unit includes: a first slide rail and a second slider. The first slide rail is slidably connected to the inside of the housing. Inside the first slide rail, there is a first slider slidably connected. On the side of the first slide rail, there is a second slide rail. Inside the second slide rail, there is a second slider slidably connected. Above the second slide rail, there is a third slide rail. Inside the third slide rail, there is a third slider slidably connected.

[0009] Preferably, the stretching unit includes: a first rail increasing plate and a second stretching plate. The bottom end of the first rail increasing plate is slidably connected to the first slide rail. Inside the first rail increasing plate, there is a first stretching plate fixedly connected. One end of the first rail increasing plate is fixedly connected to a first sliding plate. The first stretching plate and the first sliding plate are respectively slidably connected to the first slide rail. On the side of the first rail increasing plate, there is a second rail increasing plate slidably connected to the bottom end of the second slide rail. Inside the second rail increasing plate, there is a second stretching plate fixedly connected. Above the second stretching plate, there is a second sliding plate fixed to the top end of the second rail increasing plate.

[0010] Preferably, the pushing unit includes: a first rotating plate and a first connecting plate. The top end of the first rotating plate is fixedly connected to the first rail increasing plate. Both ends of the first connecting plate are rotatably connected to the first rotating plate. On the side of the first connecting plate, there is a fourth rack fixedly connected. On the side of the fourth rack, there is a fifth rack. One end of the fifth rack is fixedly connected to a second connecting plate. Both ends of the second connecting plate are fixedly connected to a second rotating plate.

[0011] Preferably, the reset assembly includes: a first spring, a second spring and a third spring. The first spring is fixedly connected to the outer surface of the first slider. On the side of the first spring, there is a second spring fixedly connected to the outer surface of the second slider. Above the second spring, there is a third spring fixedly connected to the bottom end of the third slider.

[0012] Preferably, the power assembly includes: a fourth gear and a power rod. The fourth rack and the fifth rack are respectively meshed with the fourth gear. The bottom end of the power rod penetrates through the inside of the housing and is fixedly connected to the fourth gear.

[0013] Preferably, the contact assembly includes: a first contact rod, a third contact rod, and a third contact plate. The side of the first contact rod is slidably connected to the first slider. The top end of the first contact rod is fixedly connected to a first contact plate. A second contact plate is arranged on the side of the first contact plate. The side of the second contact plate is fixedly connected to a second contact rod. Above the second contact rod, there is a third contact rod fixedly connected to the side of the third slider. The top end of the third contact rod is fixedly connected to the third contact plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects: When performing multi-dimensional direction detection force sensing, the contact assembly is touched with the object to be detected, so that the object to be detected starts to squeeze the contact assembly to push the sliding part in the multi-dimensional detection assembly to slide, so that the sliding part squeezes the reset assembly to contract and drives the rotating part to rotate, so that the rotating part drives the detection part to detect the data of its extrusion force through rotation. At the same time, the rotation power assembly drives the pushing part in the diameter increasing assembly, so that the pushing part pushes the stretching part to slide out at both ends of the sliding part to increase the detection path, adjusts the detection range, solves the problem of not being able to quickly detect multi-dimensional forces in different detection ranges, and improves the detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0016] The structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read, and are not used to limit the limited conditions for the implementation of the present invention. Therefore, they do not have technical substance. Any modification of the structure, change of the proportional relationship, or adjustment of the size should still fall within the scope that can be covered by the technical content disclosed in the present invention without affecting the effects that the present invention can produce and the purposes that can be achieved.

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structures of components such as the first scale disk, the second pointer, and the second scale disk of the present invention; Figure 3 is a schematic diagram of the structures of components such as the first gear, the second slider, and the third slide rail of the present invention; Figure 4 is a schematic diagram of the structures of the stretching part, the first slide rail, and the second slide rail of the present invention; Figure 5Structural schematic diagram of the driving part and the power component of the present invention; Figure 6 Structural schematic diagram of the third pointer, the third rotating rod and the third scale disk of the present invention.

[0018] Illustration: 1. Housing; 2. Sensing component; 3. Adjusting component; 210. Multidimensional detection component; 2110. Rotating part; 2111. First rack; 2112. Second rack; 2113. Third rack; 2114. First gear; 2115. Second gear; 2116. Third gear; 2120. Sliding part; 2121. First slide rail; 2122. Second slide rail; 2123. Third slide rail; 2124. First slider; 2125. Second slider; 2126. Third slider; 2130. Detection part; 2131. First rotating rod; 2132. First pointer; 2133. First scale disk; 2134. Second rotating rod; 2135. Second pointer; 2136. Second scale disk; 2137. Third pointer; 2138. Third rotating rod; 2139. Third scale disk; 220. Reset component; 221. First spring; 222. Second spring; 223. Third spring; 230. Contact component; 231. First contact rod; 232. Second contact rod; 233. Third contact rod; 234. First contact plate; 235. Second contact plate; 236. Third contact plate; 310. Diameter increasing component; 3110. Stretching part; 3111. First stretching plate; 3112. First sliding plate; 3113. First track increasing plate; 3114. Second stretching plate; 3115. Second sliding plate; 3116. Second track increasing plate; 3120. Driving part; 3121. First rotating plate; 3122. Second rotating plate; 3123. First connecting plate; 3124. Second connecting plate; 3125. Fourth rack; 3126. Fifth rack; 320. Power component; 321. Fourth gear; 322. Power rod. Detailed implementation manners

[0019] In order to make the invention purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component present simultaneously.

[0021] The multi-dimensional force sensor is mainly used to accurately sense the force condition of an object and transmit force data to the control system. It is applicable to the scenario of measuring the deformation and stress distribution of materials under different force conditions. At the same time, the multi-dimensional force sensor is a sensor that can measure forces and torques in multiple directions simultaneously.

[0022] The technical solution of the present invention will be further described below in conjunction with the drawings and through specific embodiments.

[0023] Reference Figures 1 - 6 As shown, an embodiment of the present invention provides a multi-dimensional force sensor device, including: a housing 1, a sensing component 2, and an adjusting component 3; The sensing component 2 includes a multi-dimensional detection component 210 disposed inside the housing 1. A reset component 220 is disposed on the side of the multi-dimensional detection component 210. A contact component 230 is fixedly connected to the top of the multi-dimensional detection component 210. The multi-dimensional detection component 210 is used to detect the extrusion force contacted by the contact component 230; The adjusting component 3 includes an increasing-diameter component 310 slidably connected to the multi-dimensional detection component 210. A power component 320 is disposed on the side of the increasing-diameter component 310. The increasing-diameter component 310 is used to adjust the measurement range of the multi-dimensional detection component 210; The multi-dimensional detection component 210 includes: a sliding part 2120, a rotating part 2110, and a detection part 2130. The sliding part 2120 is disposed inside the housing 1. The rotating part 2110 is disposed on the side of the sliding part 2120. The detection part 2130 is fixedly connected to the top of the rotating part 2110; The increasing-diameter component 310 includes: a stretching part 3110 and a pushing part 3120. The stretching part 3110 is slidably connected to the sliding part 2120. The pushing part 3120 is fixedly connected to the bottom end of the stretching part 3110.

[0024] The sensing component 2 is used to detect forces in multiple dimensions; the adjusting component 3 is used to adjust the measurement range; the multi-dimensional detection component 210 is used to detect the extrusion force contacted by the contact component 230; the reset component 220 is used to reset the multi-dimensional detection component 210 and the contact component 230; the contact component 230 is used to contact the object to be detected; the diameter-increasing component 310 is used to adjust the measurement range of the multi-dimensional detection component 210; the power component 320 is used to drive the diameter-increasing component 310; When the contact component 230 contacts the object to be detected, the object to be detected squeezes the contact component 230, causing the contact component 230 to drive the sliding part 2120 of the multi-dimensional detection component 210 to move, so that the sliding part 2120 squeezes the reset component 220. At the same time, the sliding part 2120 drives the rotating part 2110 to rotate through meshing. Subsequently, the rotating part 2110 drives the detection part 2130 to measure the magnitude and direction of the extrusion force. At the same time, the power component 320 is rotated, so that the power component 320 pushes the pushing part 3120 to drive the stretching part 3110 of the adjusting component 3, so that the stretching part 3110 slides out on the sliding part 2120 to increase the measurement path; During the detection process, when the object to be detected contacts the contact component 230, the object to be detected squeezes the contact component 230, causing the contact component 230 to drive the sliding part 2120 of the multi-dimensional detection component 210 to move and squeeze the reset component 220, causing the reset component 220 to contract. At the same time, the sliding part 2120 drives the rotating part 2110 to rotate through meshing. Subsequently, the rotating part 2110 drives the detection part 2130 to measure the magnitude and direction of the extrusion force. At the same time, the power component 320 of the adjusting component 3 is rotated, so that the power component 320 pushes the pushing part 3120 of the diameter-increasing component 310, so that the pushing part 3120 pushes the stretching part 3110 to slide out on the sliding part 2120 to increase the measurement path, adjusting the detection range, solving the problem of being unable to quickly detect multi-dimensional forces within different detection ranges, and improving the detection effect.

[0025] Reference Figure 1 、 Figure 2 And Figure 3 As shown in, the rotating part 2110 includes: a first rack 2111 and a first gear 2114. The sliding part 2120 is used to drive the first rack 2111 to move. The first rack 2111 meshes with the first gear 2114. A second gear 2115 is arranged on the side of the first gear 2114. The second gear 2115 meshes with a second rack 2112. A third rack 2113 is arranged above the second rack 2112. The third rack 2113 meshes with a third gear 2116.

[0026] During the detection process, the sliding part 2120 drives the first rack 2111, the second rack 2112 and the third rack 2113 to move within the housing 1, causing the first rack 2111 to drive the second gear 2115 to rotate through meshing, the second rack 2112 to drive the second gear 2115 to rotate through meshing, and the third rack 2113 to drive the third gear 2116 to rotate.

[0027] Reference Figure 1 、 Figure 2 、 Figure 3 And Figure 6 As shown, the detection part 2130 includes: a first rotating rod 2131 and a first pointer 2132. The bottom end of the first rotating rod 2131 is fixedly connected to the first gear 2114, the top end of the first rotating rod 2131 is fixedly connected to the first pointer 2132. There is a first scale disk 2133 sleeved on the surface of the first rotating rod 2131 below the first pointer 2132. A second rotating rod 2134 fixedly connected to the top end of the second gear 2115 is arranged on the side surface of the first rotating rod 2131. The top end of the second rotating rod 2134 is fixedly connected to a second pointer 2135. There is a second scale disk 2136 sleeved on the surface of the second rotating rod 2134 below the second pointer 2135. A third rotating rod 2138 fixedly connected to the side surface of the third gear 2116 is arranged above the second rotating rod 2134. The top end of the third rotating rod 2138 is fixedly connected to a third pointer 2137. There is a third scale disk 2139 sleeved on the surface of the third rotating rod 2138 below the third pointer 2137.

[0028] When the above-mentioned first gear 2114, second gear 2115 and third gear 2116 rotate, the first gear 2114 drives the first rotating rod 2131 to rotate, causing the first rotating rod 2131 to drive the first pointer 2132 to rotate synchronously on the first scale disk 2133, so that the first pointer 2132 indicates the corresponding extrusion force magnitude and direction on the first scale disk 2133. At the same time, the second gear 2115 drives the second rotating rod 2134 to rotate, and then the second rotating rod 2134 drives the second pointer 2135 to indicate the corresponding extrusion force magnitude and direction on the second scale disk 2136. On the other hand, the third gear 2116 drives the third rotating rod 2138 to rotate, and the third rotating rod 2138 drives the third pointer 2137 to indicate the corresponding extrusion force magnitude and direction on the third scale disk 2139. Since the housing 1 adopts a transparent structure, then the user can directly observe the values indicated by the first pointer 2132, the second pointer 2135 and the third pointer 2137 on the first scale disk 2133, the second scale disk 2136 and the third scale disk 2139 respectively through the housing.

[0029] Reference Figure 1 、 Figure 2 、 Figure 3 AndFigure 4 As shown, the sliding part 2120 includes: a first slide rail 2121 and a second slider 2125. The first slide rail 2121 is slidably connected to the inside of the housing 1. A first slider 2124 is slidably connected inside the first slide rail 2121. A second slide rail 2122 is provided on the side of the first slide rail 2121. The second slider 2125 is slidably connected to the inside of the second slide rail 2122. A third slide rail 2123 is provided above the second slide rail 2122. A third slider 2126 is slidably connected to the inside of the third slide rail 2123. By introducing the sliding structure of the first slide rail 2121 and the second slider 2125, the sliding part 2120 can respond smoothly under the action of forces in different directions. When an external extrusion force acts on the contact component 230, the sliding part 2120 responds quickly and pushes the internal components to perform corresponding displacements. This process improves the sensitivity of the sensor to force changes. Especially in the sliding part 2120, a multi-layer slide rail design is adopted. The first slide rail 2121, the second slide rail 2122 and the third slide rail 2123 cooperate with each other to effectively share the external force and avoid measurement errors caused by excessive force on a single slide rail. In addition, the design of the sliding part 2120 enables the sensor to not only accurately measure the force in a single direction when subjected to force, but also coordinately sense the forces in multiple directions through the mutually coupled sliders. Through this design, the sensor can synchronously obtain force data in multiple dimensions, which provides significant technical advantages for application scenarios that require precise control and feedback of force. In addition, the coordinated operation of the sliding part 2120 and the diameter increasing component 310 further improves the measurement range of the multi-dimensional force sensor. When a larger range of force needs to be measured, the cooperation between the stretching part 3110 and the pushing part 3120 can adjust the stroke of the sliding part 2120 and expand the detection range, thus avoiding the measurement saturation problem caused by the range limitation of traditional sensors.

[0030] During the detection process, the first slider 2124 is subjected to the extrusion force in the x direction of the object to be detected, causing the first slider 2124 to slide inside the first slide rail 2121. Thus, the first slider 2124 drives the first rack 2111 to slide synchronously. And the second slider 2125 is subjected to the extrusion force in the y direction of the object to be detected, causing the second slider 2125 to drive the second rack 2112 to slide inside the second slide rail 2122. At the same time, the third slider 2126 is subjected to the extrusion force in the z direction of the object to be detected, causing the third slider 2126 to drive the third rack 2113 to slide downward inside the second slide rail 2122.

[0031] Reference Figure 1 、 Figure 2 And Figure 4As shown, the stretching part 3110 includes: a first rail increasing plate 3113 and a second stretching plate 3114. The bottom end of the first rail increasing plate 3113 is slidably connected to the first slide rail 2121. A first stretching plate 3111 is fixedly connected inside the first rail increasing plate 3113. One end of the first rail increasing plate 3113 is fixedly connected to a first sliding plate 3112. The first stretching plate 3111 and the first sliding plate 3112 are respectively slidably connected to the first slide rail 2121. A second rail increasing plate 3116 which is slidably connected to the bottom end of the second slide rail 2122 is arranged on the side surface of the first rail increasing plate 3113. A second stretching plate 3114 is fixedly connected inside the second rail increasing plate 3116. There is a second sliding plate 3115 fixed to the top end of the second rail increasing plate 3116 above the second stretching plate 3114; By introducing the structures of the first rail increasing plate 3113 and the second stretching plate 3114, the stretching part 3110 can achieve more precise adjustment inside the multi-dimensional detection component 210. When it is necessary to expand the detection range, the first rail increasing plate 3113 can slide outwards during the force application process through the sliding connection with the first slide rail 2121, driving the first sliding plate 3112 to expand its measurement path. This design enables the sensor to adapt to a wider range of force values, not only improving the flexibility of measurement but also avoiding the saturation problem of traditional sensors under the action of a large range of force values; When the force applied by the object to be measured exceeds the preset measurement range, the stretching part 3110 will be automatically triggered and increase the stroke of the sliding part 2120 through the sliding mechanism, enabling the sensor to continue to sense and accurately measure a large range of forces. At the same time, since the first slide rail 2121 and the second slide rail 2122 adopt an arc structure, the force is more evenly distributed during the sliding process, thereby reducing the possible errors during the measurement process and further improving the accuracy and stability of the sensor.

[0032] When detection is required within different measurement ranges, the first rail extension plate 3113 slides out from one end of the first slide rail 2121 through the first tension plate 3111, causing the first rail extension plate 3113 to drive the first sliding plate 3112 to slide within the first slide rail 2121, and connecting both sides of the first rail extension plate 3113 to the first slide rail 2121 through the first sliding plate 3112, thereby pulling the first rail extension plate 3113 to increase the measurement length of the first slide rail 2121. At the same time, the second rail extension plate 3116 slides out from one end of the second slide rail 2122 through the second tension plate 3114, causing the second rail extension plate 3116 to drive the second sliding plate 3115 to slide within the second slide rail 2122, and connecting both sides of the second rail extension plate 3116 to the second slide rail 2122 through the second sliding plate 3115, thereby pulling the second rail extension plate 3116 to increase the measurement length of the second slide rail 2122. Since the first slide rail 2121 and the second slide rail 2122 adopt an arc structure, when the measurement lengths of the first slide rail 2121 and the second slide rail 2122 increase, the curvature radii of the first slide rail 2121 and the second slide rail 2122 increase with the increase in the measurement length, reducing the bending degrees of the first slide rail 2121 and the second slide rail 2122. As a result, the movements of the first slider 2124 and the second slider 2125 within the first slide rail 2121 and the second slide rail 2122 become smoother, improving the range of the measurement force.

[0033] Reference Figure 1 、 Figure 2 As Figure 5 shown, the pushing portion 3120 includes: a first rotating plate 3121 and a first connecting plate 3123. The top end of the first rotating plate 3121 is fixedly connected to the first rail extension plate 3113. Both ends of the first connecting plate 3123 are rotatably connected to the first rotating plate 3121. A fourth rack 3125 is fixedly connected to the side surface of the first connecting plate 3123. A fifth rack 3126 is arranged on the side surface of the fourth rack 3125. One end of the fifth rack 3126 is fixedly connected to a second connecting plate 3124. Both ends of the second connecting plate 3124 are fixedly connected to second rotating plates 3122.

[0034] When adjustment within a range is required, the fourth rack 3125 and the fifth rack 3126 drive the first connecting plate 3123 and the second connecting plate 3124 to move. Since the first rotating plate 3121 and the second rotating plates 3122 are elastic plates, the first connecting plate 3123 drives the first rotating plate 3121 at both ends thereof to rotate, and the second connecting plate 3124 drives the second rotating plates 3122 at both ends thereof to rotate. Subsequently, the first rotating plate 3121 drives the first rail extension plate 3113 to slide out from both ends of the first slide rail 2121, and at the same time, the second rotating plates 3122 drive the second rail extension plates 3116 to slide out from both ends of the second slide rail 2122.

[0035] Reference Figure 1 、Figure 2 As shown in Figure 3 Figure 2, the reset assembly 220 includes: a first spring 221, a second spring 222 and a third spring 223. The first spring 221 is fixedly connected to the outer surface of the first slider 2124. A second spring 222 fixedly connected to the outer surface of the second slider 2125 is arranged on the side of the first spring 221. A third spring 223 fixedly connected to the bottom end of the third slider 2126 is arranged above the second spring 222.

[0036] When the first slider 2124, the second slider 2125 and the third slider 2126 are squeezed and slide, the first slider 2124 squeezes the first spring 221 to expand and contract, the second slider 2125 squeezes the second spring 222 to expand and contract, and the third slider 2126 squeezes the third spring 223. When the object to be detected no longer squeezes the contact assembly 230, the first spring 221, the second spring 222 and the third spring 223 drive the first slider 2124, the second slider 2125 and the third slider 2126 to slide in the reverse direction and reset through the rebound force respectively.

[0037] Refer to Figure 1 , Figure 2 , Figure 3 As shown in Figure 5 Figure 3, the power assembly 320 includes: a fourth gear 321 and a power rod 322. The fourth rack 3125 and the fifth rack 3126 are respectively meshed with the fourth gear 321. The bottom end of the power rod 322 penetrates through the inside of the housing 1 and is fixedly connected to the fourth gear 321.

[0038] When it is necessary to adjust the measurement range, manually rotate the power rod 322 to drive the fourth gear 321 to rotate. Subsequently, the fourth gear 321 drives the fourth rack 3125 and the fifth rack 3126 to move through meshing, so that the fourth rack 3125 and the fifth rack 3126 drive the first connecting plate 3123 and the second connecting plate 3124 to perform the above-mentioned movement respectively.

[0039] Refer to Figure 1 , Figure 2 , Figure 3 As shown in Figure 4, the contact assembly 230 includes: a first contact rod 231, a third contact rod 233 and a third contact plate 236. The side of the first contact rod 231 is slidably connected to the first slider 2124. A first contact plate 234 is fixedly connected to the top end of the first contact rod 231. A second contact plate 235 is arranged on the side of the first contact plate 234. The side of the second contact plate 235 is fixedly connected to the second contact rod 232. Above the second contact rod 232, there is a third contact rod 233 fixedly connected to the side of the third slider 2126. The top end of the third contact rod 233 is fixedly connected to the third contact plate 236.

[0040] During the detection process, the first contact plate 234, the second contact plate 235, and the third contact plate 236 come into contact with the object to be detected. Subsequently, the object to be detected presses the first contact plate 234, the second contact plate 235, and the third contact plate 236, causing the first contact plate 234, the second contact plate 235, and the third contact plate 236 to drive the first contact rod 231, the second contact rod 232, and the third contact rod 233 respectively. Then, the first contact rod 231, the second contact rod 232, and the third contact rod 233 push the first slider 2124, the second slider 2125, and the third slider 2126 to slide respectively.

[0041] Working principle: When the multi-dimensional force is not being measured, the housing 1, the power rod 322, the reset assembly 220, the contact assembly 230, the stretching part 3110, and the detection part 2130 are in an initial state. The first slider 2124 is slidably connected to the first slide rail 2121; the second slider 2125 is slidably connected to the second slide rail 2122; the third slider 2126 is slidably connected to the third slide rail 2123; the first rack 2111 is engaged with the first gear 2114; the second rack 2112 is engaged with the second gear 2115; the third rack 2113 is engaged with the third gear 2116; the fourth rack 3125 and the fifth rack 3126 are respectively engaged with the fourth gear 321; the first rotating plate 3121 is rotatably connected to the first connecting plate 3123, and the second rotating plate 3122 is rotatably connected to the second connecting plate 3124.

[0042] During the process of measuring the multi-dimensional force, the first contact plate 234, the second contact plate 235, and the third contact plate 236 come into contact with the object to be detected simultaneously, causing the object to be detected to press the first contact plate 234, the second contact plate 235, and the third contact plate 236. The first contact plate 234, the second contact plate 235, and the third contact plate 236 drive the first contact rod 231, the second contact rod 232, and the third contact rod 233 respectively. Then, the first contact rod 231, the contact rod, the second contact rod 232, and the third contact rod 233 push the first slider 2124, the second slider 2125, and the third slider 2126 respectively. At the same time, the power rod 322 is rotated, causing the power rod 322 to drive the fourth gear 321 to rotate. The fourth gear 321 drives the fourth rack 3125 and the fifth rack 3126 through meshing. The fourth rack 3125 and the fifth rack 3126 drive the first connecting plate 3123 and the second connecting plate 3124 to move, causing the first connecting plate 3123 to drive the first rotating plate 3121 to rotate, and the second connecting plate 3124 to drive the second rotating plate 3122 to rotate.

[0043] When measuring multi-dimensional force, the first slider 2124 slides within the first slide rail 2121, causing the first slider 2124 to drive the first rack 2111 and compress the first spring 221. The first rack 2111 drives the first gear 2114 to rotate through meshing. Subsequently, the first gear 2114 drives the first rotating rod 2131 to rotate, and the first rotating rod 2131 drives the first pointer 2132 to rotate on the first scale 2133. Then, the first pointer 2132 will indicate the magnitude and direction of the force exerted on the first slider 2124 by the object to be detected in the x direction within the first scale 2133. At the same time, the second slider 2125 slides within the second slide rail 2122, causing the second slider 2125 to drive the second rack 2112 and compress the second spring 222. The second rack 2112 drives the second gear 2115 to rotate through meshing. Subsequently, the second gear 2115 drives the second rotating rod 2134 to rotate, and the second rotating rod 2134 drives the second pointer 2135 to rotate on the second scale 2136. Then, the second pointer 2135 will indicate the magnitude and direction of the force exerted on the second slider 2125 by the object to be detected in the y direction within the second scale 2136. On the other hand, the third gear 2116 drives the third rotating rod 2138 to rotate, and the third rotating rod 2138 drives the third pointer 2137 to indicate the corresponding magnitude and direction of the extrusion force on the third scale 2139. Since the housing 1 is made of a transparent structure, then the user can directly observe through the housing the values indicated by the first pointer 2132, the second pointer 2135, and the third pointer 2137 on the first scale 2133, the second scale 2136, and the third scale 2139 respectively. At the same time, the first rotating plate 3121 drives the first track-increasing plate 3113 through rotation, causing the first track-increasing plate 3113 to slide out from both ends of the first slide rail 2121 to increase the measurement path. At the same time, the second connecting plate 3124 drives the second rotating plate 3122 to rotate, causing the second rotating plate 3122 to drive the second track-increasing plate 3116 to slide out from both ends of the second slide rail 2122 to increase the measurement path, reducing the curvature of the first slide rail 2121 and the second slide rail 2122. Thus, the movement of the first slider 2124 and the second slider 2125 within the first slide rail 2121 and the second slide rail 2122 becomes smoother, improving the measurement force range.

[0044] After measuring the multi-dimensional force, the object to be detected stops contacting the contact component 230, so that the contact component 230 is no longer squeezed. Thus, the first spring 221, the second spring 222 and the third spring 223 start to drive the first slider 2124, the second slider 2125 and the third slider 2126 respectively through the elastic force, so that the first slider 2124, the second slider 2125 and the third slider 2126 slide reversely in the first slide rail 2121, the second slide rail 2122 and the third slide rail 2123 respectively. Thus, the first slider 2124, the second slider 2125 and the third slider 2126 drive the first rack 2111, the second rack 2112 and the third rack 2113 respectively, so that the first rack 2111, the second rack 2112 and the third rack 2113 drive the first gear 2114, the second gear 2115 and the third gear 2116 to rotate reversely through meshing respectively. Then, the first gear 2114, the second gear 2115 and the third gear 2116 drive the first rotating rod 2131, the second rotating rod 2134 and the third rotating rod 2138 respectively, so that the first rotating rod 2131, the second rotating rod 2134 and the third rotating rod 2138 drive the first pointer 2132, the second pointer 2135 and the third pointer 2137 to rotate reversely and reset respectively.

[0045] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-dimensional force sensor device, characterized in that: include: A housing (1), a sensor component (2) and an adjustment component (3); The sensing component (2) comprises a multi-dimensional detection component (210) arranged inside the housing (1); a reset component (220) is arranged on the side of the multi-dimensional detection component (210); and a contact component (230) is fixedly connected to the top of the multi-dimensional detection component (210); the multi-dimensional detection component (210) is used to detect the extrusion force contacted by the contact component (230); The adjustment component (3) comprises a diameter increasing component (310) slidably connected to the multi-dimensional detection component (210), and a power component (320) is arranged on the side of the diameter increasing component (310); the diameter increasing component (310) is used to adjust the measurement range of the multi-dimensional detection component (210); The multi-dimensional detection component (210) comprises: a sliding part (2120), a rotating part (2110) and a detection part (2130); the sliding part (2120) is arranged inside the housing (1); the rotating part (2110) is arranged on the side of the sliding part (2120); and the detection part (2130) is fixedly connected to the top of the rotating part (2110); The diameter increasing component (310) comprises: a stretching part (3110) and a pushing part (3120); the stretching part (3110) is slidably connected to the sliding part (2120); and the bottom end of the stretching part (3110) is fixedly connected to the pushing part (3120).

2. A multi-dimensional force sensor device according to claim 1, characterized in that: The rotating part (2110) comprises: a first rack (2111) and a first gear (2114); the sliding part (2120) is used to drive the first rack (2111) to move; the first rack (2111) is meshed with the first gear (2114); a second gear (2115) is arranged on the side of the first gear (2114); the second gear (2115) is meshed with the second rack (2112); a third rack (2113) is arranged above the second rack (2112); the third rack (2113) is meshed with the third gear (2116).

3. A multi-dimensional force sensor device according to claim 2, characterized in that: The detection unit (2130) comprises: a first rotating rod (2131) and a first pointer (2132), wherein the bottom end of the first rotating rod (2131) is fixedly connected to the first gear (2114), the top end of the first rotating rod (2131) is fixedly connected to the first pointer (2132), a first scale plate (2133) sleeved on the surface of the first rotating rod (2131) is provided below the first pointer (2132), a second rotating rod (2134) fixedly connected to the top end of the second gear (2115) is provided on the side of the first rotating rod (2131), and the first rotating rod (2134) is fixedly connected to the top end of the second gear (2115). A second pointer (2135) is fixedly connected to the top of the second rotating rod (2134); a second scale plate (2136) is sleeved on the surface of the second rotating rod (2134) below the second pointer (2135); a third rotating rod (2138) is fixedly connected to the side of the third gear (2116) above the second rotating rod (2134); a third pointer (2137) is fixedly connected to the top of the third rotating rod (2138); and a third scale plate (2139) is sleeved on the surface of the third rotating rod (2138) below the third pointer (2137).

4. A multi-dimensional force sensor device according to claim 3, characterized in that: The sliding part (2120) comprises: a first sliding rail (2121) and a second sliding block (2125); the first sliding rail (2121) is slidably connected to the inside of the shell (1); the first sliding rail (2121) is slidably connected to the inside of the first sliding rail (2124); a second sliding rail (2122) is arranged on the side of the first sliding rail (2121); the inside of the second sliding rail (2122) is slidably connected to the second sliding block (2125); a third sliding rail (2123) is arranged above the second sliding rail (2122); the inside of the third sliding rail (2123) is slidably connected to the third sliding block (2126).

5. A multi-dimensional force sensor device according to claim 4, characterized in that: The stretching part (3110) comprises: a first rail-increasing plate (3113) and a second stretching plate (3114); the bottom end of the first rail-increasing plate (3113) is slidably connected to the first slide rail (2121); the first rail-increasing plate (3111) is fixedly connected inside the first rail-increasing plate (3113); one end of the first rail-increasing plate (3113) is fixedly connected to the first slide plate (3112); the first stretching plate (3111) and the first slide plate (3112) are respectively slidably connected to the first slide rail (2121); a second rail-increasing plate (3116) slidably connected to the bottom end of the second slide rail (2122) is arranged on the side of the first rail-increasing plate (3113); the second rail-increasing plate (3116) is fixedly connected inside the second stretching plate (3114); and a second slide plate (3115) fixed to the top of the second rail-increasing plate (3116) is arranged above the second stretching plate (3114).

6. A multi-dimensional force sensor device according to claim 3, characterized in that: The pushing portion (3120) comprises: a first rotating plate (3121) and a first connecting plate (3123); the top of the first rotating plate (3121) is fixedly connected to the first rail increasing plate (3113); the two ends of the first connecting plate (3123) are rotatably connected to the first rotating plate (3121); a fourth rack (3125) is fixedly connected to the side of the first connecting plate (3123); a fifth rack (3126) is arranged on the side of the fourth rack (3125); one end of the fifth rack (3126) is fixedly connected to the second connecting plate (3124); and the two ends of the second connecting plate (3124) are fixedly connected to the second rotating plate (3122).

7. A multi-dimensional force sensor device according to claim 6, characterized in that: The reset assembly (220) comprises: a first spring (221), a second spring (222) and a third spring (223); the first spring (221) is fixedly connected to the outer surface of the first slider (2124); a second spring (222) fixedly connected to the outer surface of the second slider (2125) is arranged on the side of the first spring (221); and a third spring (223) fixedly connected to the bottom end of the third slider (2126) is arranged above the second spring (222).

8. The multi-dimensional force sensor device according to claim 6, characterized in that: The power assembly (320) comprises: a fourth gear (321) and a power rod (322); the fourth rack (3125) and the fifth rack (3126) are respectively meshed with the fourth gear (321); and the bottom end of the power rod (322) passes through the interior of the housing (1) and is fixedly connected to the fourth gear (321).

9. The multi-dimensional force sensor device according to claim 4, characterized in that: The first slide rail (2121) and the second slide rail (2122) adopt an arc structure, and the third slide rail (2123) adopts a vertically upward linear slide rail.

10. The multi-dimensional force sensor device according to claim 1, characterized in that: The contact assembly (230) comprises: a first contact rod (231), a third contact rod (233) and a third contact plate (236); the side of the first contact rod (231) is slidably connected to the first slider (2124); the top of the first contact rod (231) is fixedly connected to the first contact plate (234); the side of the first contact plate (234) is provided with a second contact plate (235); the side of the second contact plate (235) is fixedly connected to the second contact rod (232); the third contact rod (233) is fixedly connected to the side of the third slider (2126) above the second contact rod (232); the top of the third contact rod (233) is fixedly connected to the third contact plate (236).

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