A new rectangular plate type multi-dimensional force sensor

Abstract

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 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 at intervals, and a part of the area of the side of the first elastic body close to the second elastic body is recessed to form a first recessed groove. The first deformation beam is arranged between the first elastic body and the second elastic body, one end of the first deformation beam close to the first elastic body comprises a first deformation section, the first recessed groove has a first notch, and the first deformation section is respectively in abutment with the areas of the first elastic body located on the opposite sides of the first notch. The novel rectangular plate type multi-dimensional force sensor of the embodiment of the present application has good measurement effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sensors, in particular to a novel rectangular plate type multi-dimensional force sensor. BACKGROUND

[0002] A multi-dimensional 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 the resultant torque according to the force components and torque components in the X, Y and Z directions. The multi-dimensional force sensor is internally provided with multiple connecting beams, and strain gauges are attached to the wall surfaces of the connecting beams. The strain gauge is a deformation sensor that can convert the strain on the connecting beam into an electrical signal output. Its working principle is that the elastic material deformation drives the strain gauge to deform, so that the strain gauge generates a change in resistance value. The strain gauge forms a Wheatstone bridge, which converts the resistance change of the bridge arm into a voltage output.

[0003] In the related art multi-dimensional force sensor, after being subjected to an external force, the deformation effect of the deformation beam of the multi-dimensional force sensor is poor, and it is difficult to better reflect the stress of the multi-dimensional force sensor, so that the measurement effect of the multi-dimensional force sensor is poor. SUMMARY

[0004] Therefore, the main purpose of the embodiments of the present application is to provide a novel rectangular plate type multi-dimensional force sensor with good measurement effect.

[0005] To achieve the above-mentioned purpose, the technical scheme of the embodiments of the present application is as follows:

[0006] The embodiments of the present application provide a novel rectangular plate type multi-dimensional force sensor, which comprises:

[0007] a first elastic body;

[0008] a second elastic body, the second elastic body and the first elastic body are arranged at intervals, and a part of the region of the side of the first elastic body close to 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;

[0009] a first deformation beam, the first deformation beam is arranged between the first elastic body and the second elastic body, one end of the first deformation beam close to the first elastic body comprises a first deformation section, the first recessed groove has a first slot, and the first deformation section respectively abuts against the regions of the first elastic body located on the opposite sides of the first slot.

[0010] In an 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 deformation section abuts against the opposite sides of the first slot along a second direction, and the first direction intersects the second direction.

[0011] 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,

[0012] 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.

[0013] 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.

[0014] 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 area; and / or,

[0015] The first deformation beam further comprises a second deformation section between the first deformation section and the second elastic body; along a circumferential direction of the second deformation section, at least one side of the second deformation section has a second strain gauge arrangement area.

[0016] In one embodiment, a portion of the second elastic body close to 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 close to the second elastic body comprises a third deformation section, the second recessed groove has a second notch, the third deformation section abuts with regions of the second elastic body located on opposite sides of the second notch respectively, and an extension direction of the first recessed groove intersects with an extension direction of the second recessed groove.

[0017] In one embodiment, the extension direction of the first recessed groove is perpendicular to the extension direction of the second recessed groove; and / or,

[0018] Opposite sides of the first recessed groove along the extension direction each extend to an edge of the first elastic body and is open; and / or,

[0019] Opposite sides of the second recessed groove along the extension direction each extend to an edge of the second elastic body and is open.

[0020] 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.

[0021] In the interval space, at least one side of the interval space along a first direction is provided with the first side flange, and at least one side of the interval space along a second direction is provided with the second side flange, the first direction intersecting the second direction.

[0022] In one implementation, one of the first elastic body and the second elastic body has a device docking hole.

[0023] 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.

[0024] In one implementation, the extension direction of the large face of the first elastic body and the large face of the second elastic body are both perpendicular to the interval direction.

[0025] 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 respectively in abutment with the regions of the first elastic body located 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, 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 is respectively in abutment with the regions of the first elastic body located 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

[0026] 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;

[0027] 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;

[0028] Figure 3 FIG. 4 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 2 The exploded view of the new rectangular plate type multi-dimensional force sensor;

[0029] Figure 4 For Figure 3 The structural schematic diagram of the first and second elastic bodies;

[0030] Figure 5 For Figure 3 The structural schematic diagram of the second side flange;

[0031] Figure 6 For Figure 3 The structural schematic diagram of the first side flange;

[0032] Figure 7 For Figure 1 The schematic diagram of the cooperation relationship of the first and second elastic bodies and the first deformation beam;

[0033] Figure 8 For Figure 7 The local enlarged view of A;

[0034] Figure 9 For Figure 8 The schematic diagram of the cooperation relationship of the first and second elastic bodies;

[0035] Figure 10 For Figure 7 The schematic diagram of the cooperation relationship of the first and second elastic bodies and the first deformation beam in another direction;

[0036] Figure 11 For Figure 10 The local enlarged view of B;

[0037] Figure 12 For Figure 11 The schematic diagram of the cooperation relationship of the first and second elastic bodies.

[0038] Explanation of reference signs

[0039] 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

[0040] In the present application, the "first direction", "second direction", "spacing direction" orientation or positional relationship is based on the attached drawings. Figure 1The orientation or positional relationship shown. It needs to be understood that these orientation terms are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0041] 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.

[0042] 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 occurrence 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. The skilled person in the art explicitly and implicitly understands that the embodiments described herein can be combined with other embodiments.

[0043] 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. Therefore, 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). A multi-dimensional force sensor can be a six-dimensional force / torque sensor or other types of force / torque sensors.

[0044] A 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, a multi-dimensional force sensor can be used to provide more accurate force sensation information for a humanoid robot, improving the motion accuracy and reaction speed of the robot. For example, in material handling, assembly and welding process, a multi-dimensional force sensor can be used to monitor and control the action of the robot in real time, improving the accuracy and safety of the operation. For example, in the medical field, a multi-dimensional force sensor can be used in rehabilitation robots and surgical robots to improve the accuracy of operation.

[0045] Exemplarily, the robot comprises a work arm driven by a driver to perform work, an end of the work arm comprises 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 clamping jaws, suction cups and the like. In the process that the robot performs a corresponding work task through the task tool, 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 requirement of the end of the robot.

[0046] For another example, the robot comprises 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 fixedly install the robot on 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 a corresponding action, and improving the intelligence and use experience of the robot.

[0047] 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 comprises a first elastic body 10, a second elastic body 20 and a first deformation beam 30.

[0048] The second elastic body 20 and the first elastic body 10 are arranged in a spaced manner, a part 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.

[0049] 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 comprises a first deformation section 31, the first recessed groove 10a has a first notch 10b, and the first deformation section 31 abuts against the regions of the first elastic body 10 located on the opposite sides of the first notch 10b respectively.

[0050] Specifically, the novel rectangular plate type multi-dimensional force sensor is also a multi-dimensional force sensor, and the first elastic body 10, the second elastic body 20 and the first deformation beam 30 are all structures capable of producing certain deformation after being subjected to 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 certain deformation. The strain gauge arranged on the first deformation beam 30 converts the mechanical deformation into an electrical signal, so as to realize the detection of multi-dimensional force and moment.

[0051] The first deformation beam 30 has a strain gauge arrangement area for supplying strain gauge arrangement. The strain gauge is usually an element made of conductor or semiconductor material with a sensitive grid structure for measuring strain, such as a strain gauge. When the strain gauge produces mechanical deformation under the action of external force, the resistance value changes accordingly, which is called "strain effect". In use, the strain gauge is pasted on the strain gauge arrangement area of the first deformation beam 30, and the sensitive grid deforms due to the strain of the strain gauge arrangement area when the component is stressed, so that the resistance changes. Then the resistance change is measured by a detection instrument, and the strain value of the strain gauge arrangement area is converted, that is, the stress condition of the strain gauge arrangement area can be obtained.

[0052] By arranging the strain gauge on the first deformation beam 30, a Wheatstone bridge can be formed.

[0053] The second elastic body 20 and the first elastic body 10 are arranged in a spaced manner, 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.

[0054] 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.

[0055] One end of the first deformation beam 30 is in abutment with the second elastic body 20, and it should be noted that the first deformation beam 30 and the second elastic body 20 can be formed in a split manner. For example, the first deformation beam 30 is in abutment with the second elastic body 20. In some embodiments, the first deformation beam 30 and the second elastic body 20 can also be formed in one piece.

[0056] The other end of the first deformation beam 30 away from the second elastic body 20 is in abutment with the first elastic body 10.

[0057] Specifically, the first notch 10b is a notch of the first recessed groove 10a, and the first deformation beam 30 is in abutment at the first notch 10b by the first deformation segment 31 close to the first elastic body 10, so as to realize abutment with the first elastic body 10.

[0058] In addition, the first deformation beam 30 is not arranged in the first notch 10b, but abuts against the regions on the opposite sides of the first notch 10b, so that the abutting stability of the first deformation beam 30 and the first elastic body 10 can be improved.

[0059] It should be noted that the arrangement of the first elastic body 10 and the second elastic body 20 is not limited.

[0060] Exemplarily, referring to Figure 1 , the extension direction of the large face of the first elastic body 10 and the large face of the second elastic body 20 is perpendicular to the spacing direction.

[0061] Specifically, the large face of the first elastic body 10 refers to the side face with the largest area on the first elastic body 10, and the large face of the second elastic body 20 refers to the side face with the largest area on the second elastic body 20. By arranging the extension direction of the large face of the first elastic body 10 and the large face of the second elastic body 20 to be perpendicular to the spacing direction, the first elastic body 10, the second elastic body 20 and the first deformation beam 30 can be roughly cuboid, which is beneficial to the connection of the novel rectangular plate type multi-dimensional force sensor and external equipment.

[0062] In the related art, multi-dimensional force sensors are all six-dimensional force sensors with a circular shape, and there is no related design in the rectangular plate type six-dimensional force sensor.

[0063] In the novel rectangular plate type multi-dimensional force sensor of the present application, referring to Figure 1 and Figure 2 , the cross-sectional shape of the first elastic body 10 is long edge-shaped. In fact, the first elastic body 10 is a rectangular plate type structure. The elastic body with a rectangular cross section can be easily connected or stressed with external equipment, and can have a good force transmission effect.

[0064] The cross-sectional shape of the second elastic body 20 is long edge-shaped. In fact, the second elastic body 20 is also a rectangular plate type structure. The elastic body with a rectangular cross section can be easily connected or stressed with external equipment, and can have a good force transmission effect.

[0065] In the novel rectangular plate type multi-dimensional force sensor, the first deformation section 31 is abutted at the first notch 10b, and when external force is applied to the first elastic body 10 and the second elastic body 20, the first deformation section 31 can be deformed well, so that the stress of the novel rectangular plate type multi-dimensional force sensor can be well reflected, and 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 on the opposite sides of the first notch 10b, instead of being arranged in the first notch 10b to be integrally formed. In this way, 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 being stressed can be reduced, and the reliability of the novel rectangular plate type multi-dimensional force sensor in measurement can be greatly improved.

[0066] In an embodiment, as shown in Figure 1 , Figure 8 and Figure 9 , the first recessed groove 10a extends along the first direction on the side of the first elastic body 10 close to the second elastic body 20, 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. In this way, the deformation effect of the first deformation section 31 and the first elastic body 10 can be improved.

[0067] Specifically, the first recessed groove 10a extends along the first direction, that is, the length direction of the first recessed groove 10a is the first direction, and the first deformation section 31 is abutted on the opposite sides of the first notch 10b along the second direction.

[0068] It should be noted that the intersection angle between the first direction and the second direction is not limited. The intersection angle can be perpendicular or not perpendicular.

[0069] In an embodiment, as shown in 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 notch 10b along the second direction.

[0070] That is, in the second direction, the length of the first deformation section 31 is greater than the opening size of the first notch 10b. In this way, on the one hand, it is beneficial to the strain gauge to be attached on the first deformation section 31. On the other hand, the deformation effect of the first deformation section 31 and the first elastic body 10 can be better.

[0071] In an embodiment, as shown in Figure 1 and Figure 8The first deformation beam 30 further comprises a second deformation section 32 located between the first deformation section 31 and the second elastic body 20. The second deformation section 32 has a length along the second direction smaller than the length of the first slot 10b along the second direction. In this way, the second deformation section 32 can facilitate the transmission of force to the first deformation section 31, and the first deformation section 31 can be deformed more easily.

[0072] Specifically, one end of the second deformation section 32 is connected to the first deformation section 31, and the other end is connected to the second elastic body 20. Since the length of the second deformation section 32 along the second direction is smaller than the opening size of the first slot 10b, and the first deformation section 31 is connected to the opposite sides of the first slot 10b along the second direction. In this way, 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, the first deformation section 31 can be deformed more easily under the action of the second deformation section 32, thereby better feedback of the force, and the measurement effect of the novel rectangular plate type multi-dimensional force sensor can be improved.

[0073] It should be noted that the specific arrangement of the strain gauge on the first deformation beam 30 can be set according to actual conditions.

[0074] For example, the opposite sides of the first deformation section 31 along the spacing direction of the first elastic body 10 and the second elastic body 20 respectively have first strain gauge arrangement areas. In this way, the measurement of multiple moments and forces can be realized.

[0075] Specifically, the first strain gauge arrangement area is an area for arranging a strain gauge. In fact, by arranging strain gauges on the opposite sides of the first deformation section 31 along the spacing direction, three Wheatstone bridges of FZ (force in the spacing direction), MX (moment in the first direction) and MY (moment in the second direction) can be formed.

[0076] For example, the first deformation beam 30 further comprises a second deformation section 32 located between the first deformation section 31 and the second elastic body 20. Along the circumference of the second deformation section 32, at least one side of the second deformation section 32 has a second strain gauge arrangement area. The second strain gauge arrangement area is an area for arranging a strain gauge.

[0077] It should be noted that according to actual conditions, the second strain gauge arrangement area can be arranged on one side of the second deformation section 32. Of course, the second strain gauge arrangement area can also be arranged on multiple sides of the second deformation section 32, thereby realizing the measurement of multiple moments and forces.

[0078] By arranging the second strain gauge arrangement area on multiple sides of the second deformation section 32, three Wheatstone bridges of FX (force in the first direction), FY (force in the second direction) and MZ (moment in the spacing direction) can be formed.

[0079] 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 the extension length of the first notch 10b, and the extension length of the second deformation section 32 is less than the extension length of the first notch 10b.

[0080] 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 beneficial to improve the measurement effect of the novel rectangular plate type multi-dimensional force sensor.

[0081] In an embodiment, referring to Figure 8 , the first deformation beam 30 further includes a second deformation section 32, the second deformation section 32 is located between the first deformation section 31 and the second elastic body 20; along the first direction, a part of the second deformation section 32 is penetrated to form a through hole 32a.

[0082] Specifically, by forming the through hole 32a penetrating through 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.

[0083] 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. The cross-sectional form of the waist-shaped hole can better facilitate the deformation of the second deformation section 32 after being stressed.

[0084] In an embodiment, referring to Figure 1 , Figure 10 , Figure 11 and Figure 12 , a part of the second elastic body 20 close to the side surface of the first elastic body 10 is recessed to form a second recessed groove 20a; the novel rectangular plate type multi-dimensional force sensor further includes a second deformation beam 40, the second deformation beam 40 is arranged between the first elastic body 10 and the second elastic body 20, one end of the second deformation beam 40 close to the second elastic body 20 includes a third deformation section 41, the second recessed groove 20a has a second notch 20b, the third deformation section 41 respectively abuts with the regions 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.

[0085] That is, in addition to setting 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 set on the second elastic body 20 and cooperates the second recessed groove 20a with the second deformation beam 40. Thus, the measurement effect of the novel rectangular plate type multi-dimensional force sensor can be more uniform. The strain gauge attaching area does not need to be limited to the area close to the first elastic body 10.

[0086] It can be understood that the second recessed groove 20a and the first recessed groove 10a are similar in formation, and the difference lies in the different formation positions. Moreover, the shapes and sizes 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.

[0087] 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 shapes and sizes 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.

[0088] The extension direction of the first recessed groove 10a intersects with the extension direction of the second recessed groove 20a. That is, the first recessed groove 10a and the second recessed groove 20a are not extended in the same direction. Thus, 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 can be better.

[0089] It should be noted that, referring to Figure 1 , the extension direction of the first recessed groove 10a and the extension direction of the second recessed groove 20a can be perpendicular to each other, which can further improve the measurement effect. Of course, other angle setting modes can also be used.

[0090] The specific setting mode 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.

[0091] Exemplarily, referring to Figure 1 , Figure 2 and Figure 4, the opposite sides of the first recessed groove 10a along the extending direction respectively 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. Thus, on the one hand, the first deformation beam 30 can be conveniently arranged, and the first recessed groove 10a can be facilitated in processing and manufacturing. On the other hand, the first elastic body 10 can facilitate the transmission of force to the first deformation beam 30, and the measurement effect can be improved.

[0092] For another example, the opposite sides of the second recessed groove 20a along the extending direction respectively 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. Thus, on the one hand, the second deformation beam 40 can be conveniently arranged, and the second recessed groove 20a can be facilitated in processing and manufacturing. On the other hand, the second elastic body 20 can facilitate the transmission of force to the second deformation beam 40, and the measurement effect can be improved.

[0093] 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.

[0094] In the spacing space 10c, at least one first side flange 50 is arranged on at least one side of the spacing space 10c along the first direction, and at least one second side flange 51 is arranged on at least one side of the spacing space 10c along the second direction, and the first direction intersects the second direction.

[0095] That is, at least one first side flange 50 and at least one second side flange 51 are 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 on different sides of the spacing space 10c.

[0096] 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 opposite sides. 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 opposite sides.

[0097] By setting the first side flange 50 on the two opposite sides along the first direction and the second side flange 51 on the two opposite 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.

[0098] The first direction intersects the second direction, and the intersection angle can be 90° or other angles.

[0099] 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.

[0100] 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 corresponding communication for mounting a threaded part. Thus, the connection stability of the first side flange 50 and the second elastic body 20 can be improved.

[0101] According to actual conditions, the second threaded hole can be a counterbore or other structural forms.

[0102] 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 corresponding communication for mounting a threaded part. Thus, the connection stability of the second side flange 51 and the first elastic body 10 can be improved.

[0103] According to actual conditions, the fourth threaded hole can be a counterbore or other structural forms.

[0104] In an embodiment, referring 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.

[0105] At the joint of the first side flange 50 and the second side flange 51, part of the first side flange 50 is recessed to form a first avoiding area 50a, and 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 in communication with the device docking hole 10d. Thus, one of the first elastic body 10 and the second elastic body 20 can be fixedly connected with an external device, 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.

[0106] Specifically, the device interface hole 10d is a connecting hole for connecting and mounting the elastic body with an external device. The device interface hole 10d is located on one side of the clearance cavity along the spacing direction.

[0107] The clearance cavity is arranged at the joint of the first side flange 50 and the second side flange 51, and is formed by the first clearance area 50a of the first side flange 50 and the second clearance area 51a of the second side flange 51.

[0108] It should be noted that the device interface hole 10d can be a counterbore or other structural forms.

[0109] In an embodiment, one of the first elastic body 10 and the second elastic body 20 can be further provided with other threaded holes for connecting with an external device, and the other one is used for force bearing.

[0110] In an embodiment, one of the first elastic body 10 and the second elastic body 20 can be further provided with a positioning pin hole for positioning the two, or positioning and connecting with an external device, and the other one is used for force bearing.

[0111] In an embodiment, at least one of the first side flange 50 and the second side flange 51 further has a cable hole, which is in communication with the spacing space 10c, for allowing an external cable to pass into the spacing space 10c.

[0112] In the description of the present application, the description of the terms "in an embodiment", "in some embodiments", "in a specific embodiment", or "exemplary" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the exemplary description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the different embodiments or examples described in the present application and the features of the different embodiments or examples can be combined by those skilled in the art without contradiction.

[0113] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application is included in the protection scope of the present application.

Claims

1. A novel rectangular plate type multi-dimensional force sensor, characterized by, The new rectangular plate type multi-dimensional force sensor comprises: a first elastic body; a second elastic body, which is spaced apart from the first elastic body, and a portion of the side of the second elastic body close to the first 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 arranged between the first elastic body and the second elastic body, one end of the first deformation beam close to the first elastic body comprises a first deformation section, and the first recessed groove has a first slot, and the first deformation section respectively abuts against the regions of the first elastic body on the opposite sides of the first slot; a portion of the side of the second elastic body close to the first elastic body is recessed to form a second recessed groove; the new rectangular plate type multi-dimensional force sensor further comprises a second deformation beam arranged between the first elastic body and the second elastic body, one end of the second deformation beam close to the second elastic body comprises a third deformation section, the second recessed groove has a second slot, and the third deformation section respectively abuts against the regions of the second elastic body on the opposite sides of the second slot, and the extension direction of the first recessed groove intersects with the extension direction of the second recessed groove; the second elastic body and the first elastic body are spaced apart to form a spacing space, and the new rectangular plate type multi-dimensional force sensor further comprises a first side flange and a second side flange; in the spacing space, at least one side of the spacing space along a first direction is provided with the first side flange, and at least one side of the spacing space along a second direction is provided with the second side flange, and the first direction intersects with the second direction; 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 portion of the first side flange is recessed to form a first avoiding area, and a portion of the second side flange is recessed to form a second avoiding area, and the first avoiding area and the second avoiding area jointly form an avoiding cavity; along the spacing direction of the first elastic body and the second elastic body, the avoiding cavity is in communication with the device docking hole.

2. The novel rectangular plate type multi-dimensional force sensor according to claim 1, characterized by along the first direction, the first recessed groove extends on the side of the first elastic body close to the second elastic body, and the first deformation section abuts on the opposite sides of the first slot along the second direction.

3. The novel rectangular plate type multi-dimensional force sensor according to claim 2, characterized by the extension length of the first deformation section along the second direction is greater than the extension length of the first slot along the second direction; and / or the first deformation beam further comprises a second deformation section, which is located between the first deformation section and the second elastic body; the extension length of the second deformation section along the second direction is less than the extension length of the first slot along the second direction.

4. The novel rectangular plate type multi-dimensional force sensor according to claim 2, characterized by the first deformation beam further comprises a second deformation section, which is located between the first deformation section and the second elastic body; along the first direction, a portion of the second deformation section penetrates to form a through hole.

5. The novel rectangular plate type multi-dimensional force sensor according to claim 2, characterized by The first deformation section has a first strain gauge arrangement area on at least one side of the first deformation section along the circumferential direction of the first deformation section; and / or The first deformation section has a first strain gauge arrangement area on at least one side of the first deformation section along the circumferential direction of the first deformation section; and / or 6. The novel rectangular plate type multi-dimensional force sensor according to claim 1, wherein The first recessed groove and the second recessed groove are perpendicular to each other along the extension direction; and / or The first recessed groove extends to the edge of the first elastic body and is open on both sides along the extension direction; and / or The second recessed groove extends to the edge of the second elastic body and is open on both sides along the extension direction.

7. The novel rectangular plate type multi-dimensional force sensor according to any one of claims 1 to 5, characterized by The extension direction of the large face of the first elastic body and the extension direction of the large face of the second elastic body are perpendicular to the spacing direction.

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