Novel rectangular plate-type multi-dimensional force sensor

Abstract

The embodiment of the invention provides a novel rectangular plate type multi-dimensional force sensor. The novel rectangular plate type multi-dimensional force sensor comprises a first elastic body, a second elastic body and a first deformation beam. The second elastic body and the first elastic body are arranged in a spaced mode, and the partial area, close to the side face of the second elastic body, of the first elastic body is sunken to form a first sunken groove. The first deformation beam is arranged between the first elastic body and the second elastic body, the end, close to the first elastic body, of the first deformation beam comprises a first deformation section, and the first sunken groove is provided with a first notch. The first deformation sections abut against the areas, located on the two opposite sides of the first notch, of the first elastic body respectively. The novel rectangular plate-type multi-dimensional force sensor provided by the embodiment of the invention is good in measurement effect.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a novel rectangular plate-type multidimensional force sensor. Background Technology

[0002] A multidimensional force sensor is a force sensor that can simultaneously detect multiple force components and / or torque components. For example, a six-dimensional force sensor can obtain the resultant force and resultant torque based on the force and torque components in the X, Y, and Z directions. A multidimensional force sensor internally contains multiple connecting beams, with strain gauges attached to the walls of these beams. A strain gauge is a deformation sensor that converts the strain experienced on the connecting beams into an electrical signal output. Its working principle is that the deformation of the elastic material causes the strain gauge to deform, thereby causing a change in the resistance value of the strain gauge. The strain gauges form a Wheatstone bridge, which converts the resistance change of the bridge arms into a voltage output.

[0003] In multidimensional force sensors of related technologies, the deformation effect of the deformation beam of the multidimensional force sensor is poor after being subjected to external force, making it difficult to reflect the force on the multidimensional force sensor well, resulting in poor measurement effect of the multidimensional force sensor. Summary of the Invention

[0004] In view of this, the main objective of the embodiments of this application is to provide a novel rectangular plate-type multidimensional force sensor with good measurement performance.

[0005] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows: This application provides a novel rectangular plate-type multidimensional force sensor, comprising: First elastic body; The second elastic body is disposed at a distance from the first elastic body. A portion of the first elastic body near the side of the second elastic body is recessed to form a first recessed groove. The cross-sectional shape of the first elastic body and the second elastic body is rectangular. A first deformation beam is disposed between the first elastic body and the second elastic body. The end of the first deformation beam near the first elastic body includes a first deformation segment. The first recessed groove has a first opening. The first deformation segment abuts against the regions of the first elastic body located on opposite sides of the first opening.

[0006] In one embodiment, on the side of the first elastic body close to the second elastic body, the first recessed groove extends along a first direction, and the first deformed segment abuts against the opposite sides of the first groove opening along a second direction, the first direction intersecting the second direction.

[0007] In one embodiment, the first deformation section has a length along the second direction that is greater than a length of the first notch along the second direction; and / or, The first deformation beam further comprises a second deformation section between the first deformation section and the second elastic body; the second deformation section has a length along the second direction that is less than a length of the first notch along the second direction.

[0008] In one embodiment, the first deformation beam further comprises a second deformation section between the first deformation section and the second elastic body; along the first direction, a portion of the second deformation section is through to form a through hole.

[0009] In one embodiment, along a direction in which the first elastic body and the second elastic body are spaced apart, opposite sides of the first deformation section each have a first strain gauge arrangement region; and / or, The first deformation beam further comprises a second deformation section between the first deformation section and the second elastic body, and along a circumferential direction of the second deformation section, at least one side of the second deformation section has a second strain gauge arrangement region.

[0010] In one embodiment, a portion of the second elastic body near a side surface of the first elastic body is recessed to form a second recessed groove; the novel rectangular plate type multi-dimensional force sensor further comprises a second deformation beam arranged between the first elastic body and the second elastic body, an end of the second deformation beam near the second elastic body comprises a third deformation section, the second recessed groove has a second notch, the third deformation section respectively abuts with regions of the second elastic body located on opposite sides of the second notch, and an extension direction of the first recessed groove intersects with an extension direction of the second recessed groove.

[0011] In one embodiment, the extension direction of the first recessed groove is perpendicular to the extension direction of the second recessed groove; and / or, Opposite sides of the first recessed groove along the extension direction each extend to and open at an edge of the first elastic body; and / or, Opposite sides of the second recessed groove along the extension direction each extend to and open at an edge of the second elastic body.

[0012] In one embodiment, the second elastic body and the first elastic body are spaced apart to form a spacing space, and the novel rectangular plate type multi-dimensional force sensor further comprises a first side flange and a second side flange; The first side flange is arranged on at least one side of the interval space along a first direction, and the second side flange is arranged on at least one side of the interval space along a second direction, the first direction intersecting the second direction.

[0013] In one implementation, one of the first elastic body and the second elastic body has a device docking hole. At the joint of the first side flange and the second side flange, a part of the first side flange is recessed to form a first avoiding area, and a part of the second side flange is recessed to form a second avoiding area, the first avoiding area and the second avoiding area jointly forming an avoiding cavity; along the interval direction of the first elastic body and the second elastic body, the avoiding cavity is in communication with the device docking hole.

[0014] In one implementation, the extension direction of the large face of the first elastic body and the large face of the second elastic body is perpendicular to the interval direction.

[0015] The embodiment of the present application provides a novel rectangular plate type multi-dimensional force sensor, the novel rectangular plate type multi-dimensional force sensor comprising a first elastic body, a second elastic body and a first deformation beam. A part of the first elastic body close to the side face of the second elastic body is recessed to form a first recessed groove. The first deformation beam comprises a first deformation section close to one end of the first elastic body, and the first recessed groove has a first slot. The first deformation section is in abutment with the regions of the first elastic body on the opposite sides of the first slot. In this way, on the one hand, since the first deformation section is in abutment at the first slot, when external force acts on the first elastic body and the second elastic body, the first deformation section can better deform, thereby better reflecting the stress of the novel rectangular plate type multi-dimensional force sensor, so that the measurement effect of the novel rectangular plate type multi-dimensional force sensor can be improved. On the other hand, the first deformation section is in abutment with the regions of the first elastic body on the opposite sides of the first slot, instead of being arranged in the first slot to be integrally formed with the first slot. In this way, the abutment effect of the first deformation section and the first elastic body can be improved, the risk of damage of the first deformation section after being stressed can be reduced, and the reliability of the measurement of the novel rectangular plate type multi-dimensional force sensor can be greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a structural schematic diagram of a novel rectangular plate type multi-dimensional force sensor according to an embodiment of the present application; Figure 2 FIG. 2 is a structural schematic diagram of the novel rectangular plate type multi-dimensional force sensor according to the embodiment of the present application from another perspective; Figure 1 FIG. 3 is a structural schematic diagram of the novel rectangular plate type multi-dimensional force sensor according to the embodiment of the present application from another perspective; Figure 3 FIG. 4 is an exploded view of the novel rectangular plate type multi-dimensional force sensor according to the embodiment of the present application; Figure 2 FIG. 5 is a structural schematic diagram of a novel rectangular plate type multi-dimensional force sensor according to another embodiment of the present application;Figure 4 Fig. 1 is a schematic structural view of a first elastic body and a second elastic body in the first embodiment of the present application; Figure 3 Fig. 2 is a schematic structural view of the first elastic body and the second elastic body in the second embodiment of the present application; Figure 5 Fig. 3 is a schematic structural view of a second side flange in the first embodiment of the present application; Figure 3 Fig. 4 is a schematic structural view of the second side flange in the second embodiment of the present application; Figure 6 Fig. 5 is a schematic structural view of a first side flange in the first embodiment of the present application; Figure 3 Fig. 6 is a schematic structural view of the first side flange in the second embodiment of the present application; Figure 7 Fig. 7 is a schematic structural view of a cooperation relationship between the first elastic body, the second elastic body and a first deformation beam in the first embodiment of the present application; Figure 1 Fig. 8 is a schematic structural view of the cooperation relationship between the first elastic body, the second elastic body and the first deformation beam in the second embodiment of the present application; Figure 8 Fig. 9 is a partial enlarged view of A in the first embodiment of the present application; Figure 7 Fig. 10 is a partial enlarged view of B in the first embodiment of the present application; Figure 9 Fig. 11 is a schematic structural view of a cooperation relationship between the first elastic body and the second elastic body in the first embodiment of the present application; Figure 8 Fig. 12 is a schematic structural view of the cooperation relationship between the first elastic body and the second elastic body in the second embodiment of the present application; Figure 10 Fig. 13 is a schematic structural view of a cooperation relationship between the first elastic body, the second elastic body and the first deformation beam in another direction in the first embodiment of the present application; Figure 7 Fig. 14 is a schematic structural view of the cooperation relationship between the first elastic body, the second elastic body and the first deformation beam in another direction in the second embodiment of the present application; Figure 11 Fig. 15 is a partial enlarged view of A in the second embodiment of the present application; Figure 10 Fig. 16 is a partial enlarged view of B in the second embodiment of the present application; Figure 12 Fig. 17 is a schematic structural view of a cooperation relationship between the first elastic body and the second elastic body in the second embodiment of the present application. Figure 11 Fig. 18 is a schematic structural view of a cooperation relationship between the first elastic body and the second elastic body in the second embodiment of the present application.

[0017] Legend of reference signs 10, first elastic body; 10a, first recessed groove; 10b, first notch; 10c, spacing space; 10d, equipment docking hole; 20, second elastic body; 20a, second recessed groove; 20b, second notch; 30, first deformation beam; 31, first deformation section; 32, second deformation section; 32a, through hole; 40, second deformation beam; 41, third deformation section; 50, first side flange; 50a, first avoiding area; 51, second side flange; 51a, second avoiding area. DETAILED DESCRIPTION

[0018] In the present application, the first direction, the second direction, the spacing direction, the orientation or the positional relationship are based on the orientation or the positional relationship shown in the drawings.It should be understood that these orientation terms are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Figure 1

[0019] In the description of the embodiments of the present application, the technical terms "first", "second", "third" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is two and more than two, unless otherwise explicitly and specifically limited.

[0020] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to each other. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] A multi-dimensional force sensor refers to a force sensor capable of simultaneously measuring force and torque components in two or more directions. In a Cartesian coordinate system, force and torque can each be decomposed into three components, so the most complete form of a multi-dimensional force sensor is a six-dimensional force / torque sensor, i.e., a sensor capable of simultaneously measuring three force components (Fx, Fy, Fz) and three torque components (Mx, My, Mz). The multi-dimensional force sensor can be a six-dimensional force / torque sensor or other types of force / torque sensors.

[0022] The multi-dimensional force sensor has high measurement accuracy and accurate and reliable measurement structure, and can be well applied in the fields of humanoid robots, precision assembly, aerospace, medical devices, etc. For example, in the field of industrial robots, the multi-dimensional force sensor can be used to provide more accurate force sensation information for humanoid robots, to improve the motion accuracy and reaction speed of the robots. For another example, in material handling, assembly and welding process, the multi-dimensional force sensor can be used to monitor and control the action of the robot in real time, to improve the accuracy and safety of the operation. For another example, in the medical field, the multi-dimensional force sensor can be used in rehabilitation robots and surgical robots to improve the accuracy of the operation.

[0023] Illustratively, the robot includes a work arm driven by a driver to perform work, the end of the work arm includes a connector for connecting various task tools, and a multi-dimensional force sensor is arranged in the connector. The multi-dimensional force sensor is connected with the work arm and the connector respectively. The connector can be used to connect various task tools, such as grippers, suction cups, etc. In the process of the robot performing corresponding work tasks through the task tools, the multi-dimensional force sensor can detect the interaction force / torque information between the work arm and the connector, and can meet the force control requirements of the end of the robot.

[0024] For example, the robot includes a base and a robot body, the robot body is arranged on the base, a multi-dimensional force sensor is installed in the base, and the base is used to fix the robot to a workbench. The multi-dimensional force sensor is connected with the base and the robot body respectively. By arranging the multi-dimensional force sensor at the robot body and the base, when the robot body is subjected to an external force, the multi-dimensional force sensor can detect the external force information of the robot body, so as to obtain the force position and force size of the robot, thereby improving the detection accuracy of the robot, accurately controlling the robot to perform corresponding actions, and improving the intelligence and use experience of the robot.

[0025] An embodiment of the present application provides a novel rectangular plate type multi-dimensional force sensor, please refer to Figure 1 、 Figure 2 and Figure 7 , the novel rectangular plate type multi-dimensional force sensor includes a first elastic body 10, a second elastic body 20 and a first deformation beam 30.

[0026] The second elastic body 20 and the first elastic body 10 are arranged at intervals, and a part of the region of the side of the first elastic body 10 close to the second elastic body 20 is recessed to form a first recessed groove 10a, and the cross-sectional shape of the first elastic body 10 and the second elastic body 20 is rectangular.

[0027] Please refer to Figure 8 and Figure 9 , the first deformation beam 30 is arranged between the first elastic body 10 and the second elastic body 20, one end of the first deformation beam 30 close to the first elastic body 10 includes a first deformation section 31, the first recessed groove 10a has a first notch 10b, and the first deformation section 31 is in abutment with the regions of the first elastic body 10 on the opposite sides of the first notch 10b respectively.

[0028] Specifically, the novel rectangular plate type multi-dimensional force sensor is also a multi-dimensional force sensor, the first elastic body 10, the second elastic body 20 and the first deformation beam 30 are all structures capable of producing a certain deformation after being subjected to an external force. When the novel rectangular plate type multi-dimensional force sensor is arranged in a detection environment, by transmitting the force in the detection environment to the first elastic body 10 and the second elastic body 20, the first elastic body 10 and the second elastic body 20 can transmit the force to the first deformation beam 30, so that the first deformation beam 30 produces a certain deformation. The strain gauge arranged on the first deformation beam 30 converts the mechanical deformation into an electrical signal, thereby realizing the detection of multi-dimensional force and torque.

[0029] The first deformation beam 30 has a strain gauge setting area for supplying a strain gauge setting. The strain gauge is an element for measuring strain, usually made of a conductor or semiconductor material with a sensitive grid structure. When the strain gauge is mechanically deformed under the action of external force, its resistance value changes accordingly, which is called "strain effect". In use, the strain gauge is pasted on the strain gauge setting area of the first deformation beam 30. When the component is stressed, the strain gauge setting area is strained, the sensitive grid is deformed, the resistance of the strain gauge changes, and the resistance change is measured by a detection instrument, and the strain value of the strain gauge setting area is converted, that is, the stress condition of the strain gauge setting area can be obtained.

[0030] By setting the strain gauge on the first deformation beam 30, a Wheatstone bridge can be formed.

[0031] The second elastic body 20 and the first elastic body 10 are spaced apart, that is, a spacing space 10c is formed between the second elastic body 20 and the first elastic body 10. The spacing space 10c can be used to install the first deformation beam 30.

[0032] On the side of the first elastic body 10 close to the second elastic body 20, the side surface of the first elastic body 10 is formed with a first recessed groove 10a by recessing.

[0033] One end of the first deformation beam 30 is in contact with the second elastic body 20. It should be noted that the first deformation beam 30 and the second elastic body 20 can be separately formed. For example, the first deformation beam 30 and the second elastic body 20 are in contact. In some embodiments, the first deformation beam 30 and the second elastic body 20 can be integrally formed.

[0034] The other end of the first deformation beam 30 away from the second elastic body 20 is in contact with the first elastic body 10.

[0035] Specifically, the first slot 10b is the slot of the first recessed groove 10a, and the first deformation beam 30 is in contact with the first slot 10b through the first deformation section 31 close to the first elastic body 10, so as to realize the contact with the first elastic body 10.

[0036] In addition, the first deformation beam 30 is not arranged in the first slot 10b, but is in contact with the areas on the opposite sides of the first slot 10b, so that the contact stability of the first deformation beam 30 and the first elastic body 10 can be improved.

[0037] It should be noted that the arrangement of the first elastic body 10 and the second elastic body 20 is not limited.

[0038] For example, referring to Figure 1 The extension direction of the large surface of the first elastic body 10 and the large surface of the second elastic body 20 is perpendicular to the spacing direction.

[0039] Specifically, the large face of the first elastic body 10 refers to the side with the largest area on the first elastic body 10, and the large face of the second elastic body 20 refers to the side with the largest area on the second elastic body 20. By making the extension direction of the large face of the first elastic body 10 and the large face of the second elastic body 20 both perpendicular to the spacing direction, the first elastic body 10, the second elastic body 20 and the first deformation beam 30 can be roughly in the form of a cuboid as a whole, which is conducive to the connection of the novel rectangular plate type multi-dimensional force sensor with external equipment.

[0040] In the related art, multi-dimensional force sensors all adopt circular six-dimensional force sensors, and there is no relevant design in rectangular plate type six-dimensional force sensors.

[0041] In the novel rectangular plate type multi-dimensional force sensor of the present application, please refer to Figure 1 and Figure 2 , the cross-sectional shape of the first elastic body 10 is long and narrow. In fact, the first elastic body 10 is in a rectangular plate type structure. The use of an elastic body with a rectangular cross-section can facilitate connection with external equipment or force bearing, and can achieve good force transmission effect.

[0042] The cross-sectional shape of the second elastic body 20 is long and narrow. In fact, the second elastic body 20 is also in a rectangular plate type structure. The use of an elastic body with a rectangular cross-section can facilitate connection with external equipment or force bearing, and can achieve good force transmission effect.

[0043] In the novel rectangular plate type multi-dimensional force sensor of the present application, on the one hand, since the first deformation section 31 is abutted at the first notch 10b, when external force acts on the first elastic body 10 and the second elastic body 20, the first deformation section 31 can deform well, thereby better reflecting the force bearing of the novel rectangular plate type multi-dimensional force sensor, and thus the measurement effect of the novel rectangular plate type multi-dimensional force sensor can be improved. On the other hand, the first deformation section 31 is abutted with the regions of the first elastic body 10 located on the opposite sides of the first notch 10b, rather than being arranged in the first notch 10b to be integrally formed with it. Thus, the abutting effect of the first deformation section 31 and the first elastic body 10 can be improved, the risk of damage of the first deformation section 31 after force bearing can be reduced, and the reliability of the measurement of the novel rectangular plate type multi-dimensional force sensor can be greatly improved.

[0044] In an embodiment, please refer to Figure 1 , Figure 8 and Figure 9 , on the side of the first elastic body 10 close to the second elastic body 20, the first recessed groove 10a extends along the first direction, and the first deformation section 31 is abutted on the opposite sides of the first notch 10b along the second direction, and the first direction intersects the second direction. Thus, the deformation effect of the first deformation section 31 and the first elastic body 10 can be improved.

[0045] Specifically, the first recessed groove 10a extends along a first direction, that is, the length direction of the first recessed groove 10a is the first direction. The first deformation section 31 abuts against the opposite sides of the first slot 10b along a second direction.

[0046] It should be noted that the intersection angle between the first direction and the second direction is not limited. It can be perpendicular intersection or not perpendicular intersection.

[0047] In an embodiment, referring to Figure 1 , Figure 8 and Figure 9 , the extension length of the first deformation section 31 along the second direction is greater than the extension length of the first slot 10b along the second direction.

[0048] That is, in the second direction, the length of the first deformation section 31 is greater than the opening size of the first slot 10b. Thus, on the one hand, it is beneficial to the strain gauge attached on the first deformation section 31. On the other hand, it can also make the deformation effect of the first deformation section 31 and the first elastic body 10 better.

[0049] In an embodiment, referring to Figure 1 and Figure 8 , the first deformation beam 30 further comprises a second deformation section 32, the second deformation section 32 is located between the first deformation section 31 and the second elastic body 20; the extension length of the second deformation section 32 along the second direction is less than the extension length of the first slot 10b along the second direction. Thus, it is convenient for the second deformation section 32 to transmit force to the first deformation section 31, which is beneficial to the deformation of the first deformation section 31.

[0050] Specifically, one end of the second deformation section 32 is connected with the first deformation section 31, and the other end abuts against the second elastic body 20. Since along the second direction, the length of the second deformation section 32 is less than the opening size of the first slot 10b, and the first deformation section 31 abuts against the opposite sides of the first slot 10b along the second direction. Thus, when one of the first elastic body 10 and the second elastic body 20 is subjected to an external force, and the other is fixedly supported, under the action of the second deformation section 32, the first deformation section 31 can be deformed better, so that the force can be better fed back, and the measurement effect of the novel rectangular plate type multi-dimensional force sensor can be improved.

[0051] It should be noted that the specific attachment mode of the strain gauge on the first deformation beam 30 can be set according to actual conditions.

[0052] Exemplarily, along the interval direction of the first elastic body 10 and the second elastic body 20, the opposite sides of the first deformation section 31 respectively have first strain gauge setting areas. Thus, the measurement of multiple moments / forces can be realized.

[0053] Specifically, the first strain gauge setting area is an area for setting a strain gauge. In fact, by respectively attaching a strain gauge on the opposite sides of the first deformation section 31 along the interval direction, three sets of Wheatstone bridges of FZ (force in the interval direction), MX (moment in the first direction) and MY (moment in the second direction) can be composed.

[0054] For example, the first deformation beam 30 further includes a second deformation section 32, which is located between the first deformation section 31 and the second elastic body 20, and at least one side of the second deformation section 32 has a second strain gauge setting area along the circumference of the second deformation section 32. The second strain gauge setting area is an area for setting a strain gauge.

[0055] It should be noted that, according to actual conditions, the second strain gauge setting area can be provided on one side of the second deformation section 32. Of course, the second strain gauge setting area can also be provided on multiple sides of the second deformation section 32, so that multiple moment / force measurements can be achieved.

[0056] By providing the second strain gauge setting area on multiple sides of the second deformation section 32, three sets of Wheatstone bridges of FX (force in the first direction), FY (force in the second direction) and MZ (moment in the interval direction) can be composed.

[0057] In some embodiments, referring to Figure 1 , Figure 8 and Figure 9 , along the second direction, the extension length of the first deformation section 31 is greater than that of the first notch 10b, and the extension length of the second deformation section 32 is less than that of the first notch 10b.

[0058] The first deformation beam 30 is a T-shaped cross-section beam. The structure of the T-shaped cross-section beam can make the deformation effect of the first deformation beam 30 better, which is conducive to improving the measurement effect of the novel rectangular plate type multi-dimensional force sensor.

[0059] In an embodiment, referring to Figure 8 , the first deformation beam 30 further includes a second deformation section 32, which is located between the first deformation section 31 and the second elastic body 20; along the first direction, a part of the area of the second deformation section 32 penetrates to form a through hole 32a.

[0060] Specifically, by forming the through hole 32a penetrating the second deformation section 32, the deformation of the second deformation section 32 can be facilitated after the novel rectangular plate type multi-dimensional force sensor is stressed, so that the strain gauge can better detect the deformation, thereby facilitating the measurement of the novel rectangular plate type multi-dimensional force sensor.

[0061] It should be noted that the specific shape of the through hole 32a is not limited. It can be a round hole, a square hole, and of course the cross-sectional shape of the through hole 32a can also be a waist-shaped hole. With the cross-sectional form of the waist-shaped hole, the second deformation section 32 can be better facilitated to deform after being stressed.

[0062] In an embodiment, referring to Figure 1 , Figure 10 , Figure 11 and Figure 12 , the second elastic body 20 is recessed in a partial area close to the side surface of the first elastic body 10 to form a second recessed groove 20a; the novel rectangular plate type multi-dimensional force sensor further comprises a second deformation beam 40, the second deformation beam 40 is arranged between the first elastic body 10 and the second elastic body 20, and the second deformation beam 40 comprises a third deformation section 41 close to one end of the second elastic body 20; the second recessed groove 20a has a second notch 20b, and the third deformation section 41 respectively abuts against the areas of the second elastic body 20 located on the opposite sides of the second notch 20b; and the extension direction of the first recessed groove 10a intersects with the extension direction of the second recessed groove 20a.

[0063] That is to say, in addition to arranging the first recessed groove 10a on the first elastic body 10 and cooperating the first recessed groove 10a with the first deformation beam 30, the second recessed groove 20a is also arranged on the second elastic body 20 and cooperates the second recessed groove 20a with the second deformation beam 40. Therefore, the measurement effect of the novel rectangular plate type multi-dimensional force sensor can be more uniform. The arrangement area of the strain gauge does not need to be limited to the area close to the first elastic body 10.

[0064] It can be understood that the second recessed groove 20a and the first recessed groove 10a are similar in formation mode, and the difference lies in the different formation positions. Moreover, the shape and size of the second recessed groove 20a and the first recessed groove 10a can be the same or different, which can be set according to the actual situation.

[0065] The cooperation mode of the second deformation beam 40 and the second recessed groove 20a is similar to that of the first deformation beam 30 and the first recessed groove 10a, and the difference lies in the different formation positions. Moreover, the shape and size of the second deformation beam 40 and the first deformation beam 30 can be the same or different, which can be set according to the actual situation.

[0066] The extension direction of the first recessed groove 10a intersects with the extension direction of the second recessed groove 20a. That is to say, the first recessed groove 10a and the second recessed groove 20a are not extended in the same direction. Therefore, it is convenient to arrange the first recessed groove 10a and the second recessed groove 20a, and at the same time, the measurement of the novel rectangular plate type multi-dimensional force sensor can be more uniform, and the measurement effect is better.

[0067] It should be noted that, referring toFigure 1 The extending direction of the first recessed groove 10a and the extending direction of the second recessed groove 20a can be perpendicular to each other, thereby further improving the measurement effect. Of course, other angles can also be used.

[0068] The specific arrangement of the first recessed groove 10a and the second recessed groove 20a in the novel rectangular plate type multi-dimensional force sensor is not limited.

[0069] For example, referring to Figure 1 , Figure 2 and Figure 4 , the opposite sides of the first recessed groove 10a along the extending direction extend to the edges of the first elastic body 10 and are open. That is, along the length direction of the first recessed groove 10a, the first recessed groove 10a is a through groove. The opposite sides of the first recessed groove 10a along the length direction are in communication with the outside. In this way, on the one hand, it is convenient to arrange the first deformation beam 30, and it is also beneficial to the processing and manufacturing of the first recessed groove 10a. On the other hand, it is also beneficial to the transmission of force from the first elastic body 10 to the first deformation beam 30, and it is beneficial to improve the measurement effect.

[0070] For another example, the opposite sides of the second recessed groove 20a along the extending direction extend to the edges of the second elastic body 20 and are open. That is, along the length direction of the second recessed groove 20a, the second recessed groove 20a is a through groove. The opposite sides of the second recessed groove 20a along the length direction are in communication with the outside. In this way, on the one hand, it is convenient to arrange the second deformation beam 40, and it is also beneficial to the processing and manufacturing of the second recessed groove 20a. On the other hand, it is also beneficial to the transmission of force from the second elastic body 20 to the second deformation beam 40, and it is beneficial to improve the measurement effect.

[0071] In an embodiment, referring to Figure 3 and Figure 4 , the second elastic body 20 and the first elastic body 10 form a spacing space 10c, and the novel rectangular plate type multi-dimensional force sensor further comprises a first side flange 50 and a second side flange 51.

[0072] In the spacing space 10c, at least one side of the spacing space 10c along the first direction is provided with the first side flange 50, and at least one side of the spacing space 10c along the second direction is provided with the second side flange 51, and the first direction intersects the second direction.

[0073] That is, at least one first side flange 50 and second side flange 51 are respectively arranged in the spacing space 10c between the second elastic body 20 and the first elastic body 10. In the spacing space 10c, the first side flange 50 and the second side flange 51 are respectively located at different sides of the spacing space 10c.

[0074] Specifically, the first side flange 50 can be arranged on one side of the spacing space 10c along the first direction, or the first side flange 50 can be arranged on both sides along the first direction. The second side flange 51 can be arranged on one side of the spacing space 10c along the second direction, or the second side flange 51 can be arranged on both sides along the second direction.

[0075] By arranging the first side flange 50 on both sides along the first direction and arranging the second side flange 51 on both sides along the second direction, the first side flange 50 and the second side flange 51 can form an enclosed structure to enclose the spacing space 10c, thereby improving the protection effect of the novel rectangular plate type multi-dimensional force sensor.

[0076] The first direction intersects the second direction, and the intersection angle can be 90° or other angles.

[0077] It should be noted that the first side flange 50 and the second side flange 51 are used to connect the first elastic body 10 and the second elastic body 20.

[0078] For example, the side of the first side flange 50 close to the second elastic body 20 has a first threaded hole, the second elastic body 20 has a second threaded hole corresponding to the first threaded hole, and the first threaded hole and the second threaded hole are in communication corresponding to each other for mounting a threaded part. In this way, the connection stability of the first side flange 50 and the second elastic body 20 can be improved.

[0079] According to actual conditions, the second threaded hole can be a counterbore or other structural forms.

[0080] For another example, the side of the second side flange 51 close to the first elastic body 10 has a third threaded hole, the first elastic body 10 has a fourth threaded hole corresponding to the third threaded hole, and the third threaded hole and the fourth threaded hole are in communication corresponding to each other for mounting a threaded part. In this way, the connection stability of the second side flange 51 and the first elastic body 10 can be improved.

[0081] According to actual conditions, the fourth threaded hole can be a counterbore or other structural forms.

[0082] In an embodiment, please refer to Figure 3 to Figure 6 One of the first elastic body 10 and the second elastic body 20 has a device docking hole 10d.

[0083] At the joint of the first side flange 50 and the second side flange 51, a part of the first side flange 50 is recessed to form a first avoiding area 50a, and a part of the second side flange 51 is recessed to form a second avoiding area 51a, and the first avoiding area 50a and the second avoiding area 51a jointly form an avoiding cavity; along the spacing direction of the first elastic body 10 and the second elastic body 20, the avoiding cavity is communicated with the equipment docking hole 10d. Thus, one of the first elastic body 10 and the second elastic body 20 can be fixedly connected with an external equipment, and the other one of the first elastic body 10 and the second elastic body 20 can be better stressed, and the first side flange 50 and the second side flange 51 can reduce the obstruction to the above connection.

[0084] Specifically, the equipment docking hole 10d is a connecting hole for connecting and installing the elastic body with an external equipment. The equipment docking hole 10d is located at one side of the avoiding cavity along the spacing direction.

[0085] The avoiding cavity is arranged at the joint of the first side flange 50 and the second side flange 51, and is jointly formed by the first avoiding area 50a of the first side flange 50 and the second avoiding area 51a of the second side flange 51.

[0086] It should be noted that the equipment docking hole 10d can be a counterbore or other structural forms.

[0087] In an embodiment, the one of the first elastic body 10 and the second elastic body 20 can further be provided with other threaded holes for connecting with an external equipment, and the other one is used for stress.

[0088] In an embodiment, the one of the first elastic body 10 and the second elastic body 20 can further be provided with a positioning pin hole for positioning the two or positioning and connecting with an external equipment, and the other one is used for stress.

[0089] In an embodiment, at least one of the first side flange 50 and the second side flange 51 further has a cable hole communicated with the spacing space 10c, for allowing an external cable to pass into the spacing space 10c.

[0090] In the description of the application, the description of the terms "in an embodiment", "in some embodiments", "in a specific embodiment", or "exemplary" and the like means that the specific feature, structure, material or characteristic being described is included in at least one embodiment or example of the application. The illustrative appearance of the above-mentioned terms in various places in the specification is not necessarily intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the different embodiments or examples described in the application and the features of the different embodiments or examples can be combined with each other, if not mutually exclusive.

[0091] The above merely provides preferred embodiments of the application, but is not for limiting the application. For those skilled in the art, the application can have various modifications and changes. Any modified, equivalent replaced, improved and the like within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A novel rectangular plate-type multidimensional force sensor, characterized in that, include: First elastic body; The second elastic body is disposed at a distance from the first elastic body. A portion of the first elastic body near the side of the second elastic body is recessed to form a first recessed groove. The cross-sectional shape of the first elastic body and the second elastic body is rectangular. A first deformation beam is disposed between the first elastic body and the second elastic body. The end of the first deformation beam near the first elastic body includes a first deformation segment. The first recessed groove has a first opening. The first deformation segment abuts against the regions of the first elastic body located on opposite sides of the first opening.

2. The novel rectangular plate-type multidimensional force sensor according to claim 1, characterized in that, On the side of the first elastic body close to the second elastic body, the first recessed groove extends along a first direction, and the first deformed segment abuts against the opposite sides of the first groove opening along a second direction, the first direction intersecting the second direction.

3. The novel rectangular plate-type multidimensional force sensor according to claim 2, characterized in that, The first deformed segment extends longer in the second direction than the first slot extends longer in the second direction; and / or, The first deformable beam further includes a second deformable segment, which is located between the first deformable segment and the second elastic body; the extension length of the second deformable segment along the second direction is less than the extension length of the first slot along the second direction.

4. The novel rectangular plate-type multidimensional force sensor according to claim 2, characterized in that, The first deformable beam further includes a second deformable segment located between the first deformable segment and the second elastic body; along the first direction, a portion of the second deformable segment extends through to form a through hole.

5. The novel rectangular plate-type multidimensional force sensor according to claim 2, characterized in that, Along the spacing direction between the first elastic body and the second elastic body, the opposite sides of the first deformation segment each have a first strain gauge mounting area; and / or, The first deformable beam further includes a second deformable segment located between the first deformable segment and the second elastic body. Along the circumference of the second deformable segment, at least one side of the second deformable segment has a second strain gauge mounting area.

6. The novel rectangular plate-type multidimensional force sensor according to any one of claims 1-5, characterized in that, The second elastic body has a recessed area near the side of the first elastic body to form a second recessed groove; the novel rectangular plate multidimensional force sensor also includes a second deformation beam, which is disposed between the first elastic body and the second elastic body. The end of the second deformation beam near the second elastic body includes a third deformation segment. The second recessed groove has a second opening. The third deformation segment abuts against the areas of the second elastic body located on opposite sides of the second opening. The extension direction of the first recessed groove intersects the extension direction of the second recessed groove.

7. The novel rectangular plate-type multidimensional force sensor according to claim 6, characterized in that, The extension direction of the first recessed groove is perpendicular to the extension direction of the second recessed groove; and / or, The first recessed groove extends to the edge of the first elastomer on opposite sides along the extending direction and is open; and / or, The second recessed groove extends to the edge of the second elastomer on both sides along the extension direction and is open.

8. The novel rectangular plate-type multidimensional force sensor according to any one of claims 1-5, characterized in that, The second elastic body and the first elastic body are spaced apart to form an interval space. The novel rectangular plate multidimensional force sensor also includes a first side flange and a second side flange. Within the interval space, a first side flange is provided on at least one side of the interval space along a first direction, and a second side flange is provided on at least one side of the interval space along a second direction, wherein the first direction and the second direction intersect.

9. The novel rectangular plate-type multidimensional force sensor according to claim 8, characterized in that, One of the first elastomer and the second elastomer has a device docking hole; At the junction of the first side flange and the second side flange, a portion of the first side flange is recessed to form a first clearance area, and a portion of the second side flange is recessed to form a second clearance area. The first clearance area and the second clearance area together form a clearance cavity. Along the spacing direction between the first elastomer and the second elastomer, the clearance cavity communicates with the device docking hole.

10. The novel rectangular plate-type multidimensional force sensor according to any one of claims 1-5, characterized in that, The extension directions of the large surface of the first elastic body and the large surface of the second elastic body are both perpendicular to the spacing direction.

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