Force sensor with anti-collision function and redundant output

Abstract

The utility model discloses a force sensor with an anti-collision function and redundant output, which comprises a sensor elastic body, a first connector and a second connector, the sensor elastic body is provided with two groups of strain bins and a transfer bin, the strain bins and the transfer bin are arranged in the sensor elastic body, and the first connector and the second connector are arranged in the transfer bin. The transfer bin comprises a first transfer bin body and a second transfer bin body, the first connector is arranged in the first transfer bin body, and the second connector is arranged in the second transfer bin body. According to the utility model, the connector is arranged inside the transfer bin, the failure of the sensor caused by external impact and collision of the connector can be prevented, in addition, the force sensor comprises the two groups of strain bins and the two connectors, that is, the sensor is designed into independent double-path redundant output, when the force sensor works, one channel is used, and the other channel is standby, so that the reliability of the force sensor is improved. And if one path is abnormal in work, the butt joint cable is replaced and accessed to the standby channel, and the device can be continuously used normally without influencing the measurement work.

Description

Technical Field

[0001] The utility model relates to the technical field of sensors, in particular to a force sensor with redundant output of anti-collision function. Background Art

[0002] The pin force sensor is an integrated structure that combines a load carrier and a weighing sensor. It is a special sensor for measuring the radial load of components such as bearings and pulleys or the tension of wire ropes. It is mainly used to replace the shaft of a balance pulley, fixed pulley or other forms of pins installed in the structure for radial force measurement.

[0003] The sensors currently on the market, especially shaft sensors, are very likely to smash or damage conventional external connectors during installation and operation, causing sensor failure. In addition, most shaft sensors generally have single-channel output. Once the single-channel output function fails, the force sensor loses its effectiveness. Replacement and after-sales service are time-consuming and labor-intensive, affecting the progress of measurement work. Utility Model Content

[0004] Therefore, one purpose of the present invention is to provide a force sensor with redundant output of anti-collision function, so as to solve the problems mentioned in the background technology and overcome the deficiencies in the prior art.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A force sensor with anti-collision function and redundant output, comprising a sensor elastomer, and also comprising a first connector and a second connector. The sensor elastomer is provided with a strain bin and a transfer bin, and both the strain bin and the transfer bin are arranged inside the sensor elastomer. The strain bin has two groups, and the transfer bin comprises a first transfer bin and a second transfer bin. The first connector is arranged inside the first transfer bin, and the second connector is arranged inside the second transfer bin.

[0007] Furthermore, the two groups of strain bins are respectively a first strain bin group and a second strain bin group, the first strain bin group includes a first strain bin and a fourth strain bin, and the first strain bin and the fourth strain bin are connected via a wire hole.

[0008] Furthermore, a first strain gauge is provided in the first strain bin, a fourth strain gauge is provided in the fourth strain bin, a first sealing cover is provided at the bin opening of the first strain bin, and a fourth sealing cover is provided at the bin opening of the fourth strain bin.

[0009] Furthermore, the second strain bin group includes a second strain bin and a third strain bin, and the second strain bin and the third strain bin are connected via a wire hole.

[0010] Furthermore, a second strain gauge is provided in the second strain bin, a third strain gauge is provided in the third strain bin, a second sealing cover is provided at the bin opening of the second strain bin, and a third sealing cover is provided at the bin opening of the third strain bin.

[0011] Furthermore, the first strain gauge and the fourth strain gauge form a Wheatstone bridge, and the first strain bin group is connected to the second transfer bin.

[0012] Furthermore, the second strain gauge and the third strain gauge form a Wheatstone bridge, and the second strain bin group is connected to the first transfer bin.

[0013] Furthermore, the sensor elastomer is cylindrical, the adapter chamber is arranged at one end of the sensor elastomer, and the other end of the sensor elastomer is provided with a mounting portion.

[0014] Therefore, the utility model has the following beneficial effects:

[0015] The utility model discloses a force sensor with anti-collision function and redundant output, wherein the connector is arranged inside the transfer bin, that is, the connector is sunk into the elastic body of the sensor, so as to prevent the sensor from failing due to external impact or collision with the connector. In addition, the utility model discloses a force sensor comprising two sets of strain bins and two connectors, that is, the sensor is designed to have independent dual-channel redundant output. When the force sensor is working, one channel is used and the other channel is reserved. If an abnormality occurs in one channel during operation, the docking cable is replaced to access the reserved channel, and the sensor can continue to be used normally without affecting the measurement work.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will become apparent from the following description or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 It is a schematic diagram of the overall structure of the force sensor of the utility model;

[0019] Figure 2 It is a side view of the force sensor of the utility model;

[0020] Figure 3 yes Figure 2 AA section view shown;

[0021] Figure 4 It is an exploded view of the force sensor of the utility model.

[0022] In the figure: 1. sensor elastomer; 2. first cover; 3. second cover; 4. first connector; 5. second connector; 6. mounting portion; 7. first strain bin; 8. second strain bin; 9. first wire hole; 10. third strain bin; 11. fourth strain bin; 12. second wire hole; 13. first connector; 14. second connector; 15. first transfer bin; 16. second transfer bin; 17. first strain gauge; 18. second strain gauge; 19. third strain gauge; 20. fourth strain gauge; 21. first transfer sleeve; 22. second transfer sleeve; 23. third cover; 24. fourth cover; 25. third wire hole; 26. fourth wire hole. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0024] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Embodiment 1:

[0026] like Figure 1-Figure 4 As shown, a force sensor with anti-collision function and redundant output includes a sensor elastomer 1, and also includes a first connector 13 and a second connector 14. A strain bin and a transfer bin are provided on the sensor elastomer 1. The strain bin and the transfer bin are both arranged inside the sensor elastomer 1. There are two groups of strain bins. The transfer bin includes a first transfer bin 15 and a second transfer bin 16. The first connector 13 is arranged inside the first transfer bin 15, and the second connector 14 is arranged inside the second transfer bin 16.

[0027] The utility model discloses a force sensor with a redundant output with an anti-collision function, in which a connector is arranged inside a transfer bin, that is, the connector is sunk into the interior of a sensor elastic body 1, so as to prevent the sensor from failing due to external impact or collision with the connector. In addition, the utility model discloses a force sensor comprising two sets of strain bins and two connectors, that is, the sensor is designed to have an independent dual-channel redundant output. When the force sensor is working, one channel is used and the other channel is reserved. If an abnormality occurs in one channel during operation, the docking cable is replaced and connected to the reserve channel, so that the sensor can continue to be used normally, without affecting the measurement work, thus saving the maintenance and replacement cost of the sensor and increasing the service life of the sensor.

[0028] As an implementation method, the two groups of strain bins are respectively a first strain bin group and a second strain bin group. Figure 3 As shown, the first strain bin group includes a first strain bin 7 and a fourth strain bin 11, and the first strain bin 7 and the fourth strain bin 11 are connected through a wire hole. Specifically, the first strain bin 7 is indirectly connected to the fourth strain bin 11 through the third wire hole 25, the third strain bin 10, and the second wire hole 12.

[0029] Specifically, Figure 3 The two strain bins of the first strain bin group are arranged on both sides of the sensor elastomer 1, wherein the first strain bin 7 is arranged on one side of the sensor elastomer 1 near the left end, and the fourth strain bin 11 is arranged on the other side of the sensor elastomer 1 near the right end.

[0030] In this embodiment, the utility model further comprises a circuit board, and the circuit board is a signal acquisition circuit board, on which all components related to the bridge measurement circuit except the strain gauge are arranged.

[0031] The signal acquisition circuit board includes a first signal acquisition circuit board and a second signal acquisition circuit board.

[0032] As an implementation manner, the structures of the first signal acquisition circuit board and the second signal acquisition circuit board are completely the same.

[0033] As an implementation manner, the structures of the first signal acquisition circuit board and the second signal acquisition circuit board may be different, and the structure of the signal acquisition circuit board may be specifically designed according to requirements based on the functions implemented by the force sensor.

[0034] like Figure 4 As shown, a first strain gauge 17 is provided in the first strain bin 7 , a fourth strain gauge 20 is provided in the fourth strain bin 11 , a first sealing cover 2 is provided at the bin opening of the first strain bin 7 , and a fourth sealing cover 24 is provided at the bin opening of the fourth strain bin 11 .

[0035] Specifically, the strain gauge is a resistance strain gauge.

[0036] The first strain gauge 17 , the fourth strain gauge 20 , and the first signal acquisition circuit board together form a Wheatstone bridge measurement circuit.

[0037] As an embodiment, the second strain bin group includes a third strain bin 10 and a second strain bin 8, and the third strain bin 10 and the second strain bin 8 are connected through a wire hole. Specifically, the second strain bin 8 is indirectly connected to the third strain bin 10 through the second wire hole 12, the fourth wire hole 26, and the fourth strain bin 11.

[0038] Specifically, Figure 3 The two strain bins of the second strain bin group are arranged on both sides of the sensor elastomer 1, wherein the second strain bin 8 is arranged on one side of the sensor elastomer 1 near the right end, and the third strain bin 10 is arranged on the other side of the sensor elastomer 1 near the left end.

[0039] Furthermore, a second strain gauge 18 is provided in the second strain bin 8 , a third strain gauge 19 is provided in the third strain bin 10 , a second sealing cover 3 is provided at the bin opening of the second strain bin 8 , and a third sealing cover 23 is provided at the bin opening of the third strain bin 10 .

[0040] The first cover 2 , the second cover 3 , the third cover 23 , and the fourth cover 24 respectively seal and protect the first strain bin 7 , the second strain bin 8 , the third strain bin 10 , and the fourth strain bin 11 .

[0041] The third strain gauge 19, the second strain gauge 18, and the second signal acquisition circuit board together form a Wheatstone bridge measurement circuit.

[0042] The Wheatstone bridge circuit is a common measurement circuit in this field and belongs to the existing mature technology, so it will not be described in detail here.

[0043] The first wire hole 9, the second wire hole 12, the third wire hole 25, and the fourth wire hole 26 are used to arrange the connecting wires between the first strain gauge 17, the fourth strain gauge 20, and the first signal acquisition circuit board, and the connecting wires between the third strain gauge 19, the second strain gauge 18, and the second signal acquisition circuit board.

[0044] The first strain gauge 17 and the fourth strain gauge 20 form a Wheatstone bridge, the first strain bin group is connected to the second transfer bin 15, the third strain gauge 19 and the second strain gauge 18 form a Wheatstone bridge, and the second strain bin group is connected to the first transfer bin 16, that is, the sensor is designed to have independent dual-channel redundant output. When the force sensor is working, one channel (one signal output composed of the first strain gauge 17, the fourth strain gauge 20, the first signal acquisition circuit board and the second connector 14 or one signal output composed of the third strain gauge 19, the second strain gauge 18, the second signal acquisition circuit board and the first connector 13) is used, and the other channel (one signal output composed of the third strain gauge 19, the second strain gauge 18, the second signal acquisition circuit board and the first connector 13 or one signal output composed of the first strain gauge 17, the fourth strain gauge 20, the first signal acquisition circuit board and the second connector 14) is reserved. If an abnormality occurs in one channel during work, the docking cable is replaced and connected to the spare channel, and the sensor can continue to be used normally without affecting the measurement work.

[0045] As an implementation mode, the first signal acquisition circuit board is disposed in the first transfer compartment 15 , and the second signal acquisition circuit board is disposed in the second transfer compartment 16 .

[0046] As an implementation mode, the second signal acquisition circuit board is disposed in the first transfer compartment 15 , and the first signal acquisition circuit board is disposed in the second transfer compartment 16 .

[0047] As an implementation mode, the sensor elastic body 1 can also be provided with a separate electronic compartment, the electronic compartment includes a first electronic compartment and a second electronic compartment, the first signal acquisition circuit board is arranged in the first electronic compartment, and the second signal acquisition circuit board is arranged in the second electronic compartment. The first electronic compartment is located between the first transfer compartment 15 and the second strain compartment 8, and the first electronic compartment is connected to the first transfer compartment 15, and the first electronic compartment is connected to the second strain compartment 8. The second electronic compartment is located between the second transfer compartment 16 and the fourth strain compartment 11, and the second electronic compartment is connected to the second transfer compartment 16, and the second electronic compartment is connected to the fourth strain compartment 11.

[0048] As an embodiment, the first connector 13 is disposed in the first adapter compartment 15, and a first adapter sleeve 21 is also provided between the first connector 13 and the inner wall of the first adapter compartment 15. The first adapter sleeve 21 is sleeved on the first connector 13 for fixing and protecting the first connector 13. The first connector 13, the first adapter sleeve 21 and the first adapter compartment 15 are combined to form a first connector port 4.

[0049] The second connector 14 is arranged in the second transfer compartment 16, and a second transfer sleeve 22 is also provided between the second connector 14 and the inner wall of the second transfer compartment 16. The second transfer sleeve 22 is sleeved on the second connector 14 for fixing and protecting the second connector 14. The second connector 14, the second transfer sleeve 22 and the second transfer compartment 16 are combined to form a second connector port 5.

[0050] Furthermore, the sensor elastomer 1 is cylindrical, the adapter chamber is arranged at one end of the sensor elastomer 1, and the other end of the sensor elastomer 1 is provided with a mounting portion 6.

[0051] The mounting portion 6 is used to mount and fix the force sensor, and the force sensor is installed in the structure for measurement.

[0052] The force sensor also includes a cable harness, which is used to connect to the first connector 4 or the second connector 5 to output the force data monitored by the force sensor.

[0053] Embodiment 2:

[0054] like Figure 1-Figure 4 As shown, a force sensor with anti-collision function and redundant output includes a sensor elastomer 1, and also includes a first connector 13 and a second connector 14. A strain bin and a transfer bin are provided on the sensor elastomer 1. The strain bin and the transfer bin are both arranged inside the sensor elastomer 1. There are two groups of strain bins. The transfer bin includes a first transfer bin 15 and a second transfer bin 16. The first connector 13 is arranged inside the first transfer bin 15, and the second connector 14 is arranged inside the second transfer bin 16.

[0055] The utility model discloses a force sensor with a redundant output with an anti-collision function, in which a connector is arranged inside a transfer bin, that is, the connector is sunk into the interior of a sensor elastic body 1, so as to prevent the sensor from failing due to external impact or collision with the connector. In addition, the utility model discloses a force sensor comprising two sets of strain bins and two connectors, that is, the sensor is designed to have an independent dual-channel redundant output. When the force sensor is working, one channel is used and the other channel is reserved. If an abnormality occurs in one channel during operation, the docking cable is replaced and connected to the reserve channel, so that the sensor can continue to be used normally, without affecting the measurement work, thus saving the maintenance and replacement cost of the sensor and increasing the service life of the sensor.

[0056] Furthermore, the two groups of strain bins are respectively a first strain bin group and a second strain bin group. Figure 3 As shown, the first strain bin group includes a first strain bin 7 and a second strain bin 8 , and the first strain bin 7 and the second strain bin 8 are connected via a first wire hole 9 .

[0057] Specifically, Figure 3The two strain bins of the first strain bin group are arranged on the same side of the sensor elastomer 1, wherein the first strain bin 7 is arranged near the left end of the sensor elastomer 1, and the second strain bin 8 is arranged near the right end of the sensor elastomer 1, and the first wire hole 9 is arranged inside the sensor elastomer 1, and the first wire hole 9 connects the first strain bin 7 and the second strain bin 8.

[0058] Specifically, the circuit board is a signal acquisition circuit board, and all components related to the bridge measurement circuit except the strain gauge are arranged on the signal acquisition circuit board.

[0059] The signal acquisition circuit board includes a first signal acquisition circuit board and a second signal acquisition circuit board.

[0060] As an implementation manner, the structures of the first signal acquisition circuit board and the second signal acquisition circuit board are completely the same.

[0061] As an implementation manner, the structures of the first signal acquisition circuit board and the second signal acquisition circuit board may be different, and the structure of the signal acquisition circuit board may be specifically designed according to requirements based on the functions implemented by the force sensor.

[0062] like Figure 4 As shown, a first strain gauge 17 is provided in the first strain bin 7 , a second strain gauge 18 is provided in the second strain bin 8 , a first sealing cover 2 is provided at the bin opening of the first strain bin 7 , and a second sealing cover 3 is provided at the bin opening of the second strain bin 8 .

[0063] Specifically, the strain gauge is a resistance strain gauge.

[0064] The first strain gauge 17 , the second strain gauge 18 , and the first signal acquisition circuit board together form a Wheatstone bridge measurement circuit.

[0065] Furthermore, the second strain bin group includes a third strain bin 10 and a fourth strain bin 11 , and the third strain bin 10 and the fourth strain bin 11 are connected via a second wire hole 12 .

[0066] Specifically, Figure 3 The two strain bins of the second strain bin group are arranged on the other side of the sensor elastic body 1, and are arranged opposite to the two strain bins of the first strain bin group. The third strain bin 10 is arranged near the left end of the sensor elastic body 1, and the fourth strain bin 11 is arranged near the right end of the sensor elastic body 1. The second wire hole 12 is arranged inside the sensor elastic body 1, and the second wire hole 12 connects the third strain bin 10 and the fourth strain bin 11.

[0067] Furthermore, a third strain gauge 19 is provided in the third strain bin 10 , a fourth strain gauge 20 is provided in the fourth strain bin 11 , a third sealing cover 23 is provided at the bin opening of the third strain bin 10 , and a fourth sealing cover 24 is provided at the bin opening of the fourth strain bin 11 .

[0068] The first cover 2 , the second cover 3 , the third cover 23 , and the fourth cover 24 respectively seal and protect the first strain bin 7 , the second strain bin 8 , the third strain bin 10 , and the fourth strain bin 11 .

[0069] The third strain gauge 19, the fourth strain gauge 20, and the second signal acquisition circuit board together form a Wheatstone bridge measurement circuit.

[0070] The Wheatstone bridge is a common measurement circuit in this field and belongs to the existing mature technology, which will not be described in detail here.

[0071] The first wire-through hole 9 is used to arrange the connection wires between the first strain gauge 17 , the second strain gauge 18 , and the first signal acquisition circuit board.

[0072] The second wire-through hole 12 is used to arrange the connection wires between the third strain gauge 19 , the fourth strain gauge 20 , and the second signal acquisition circuit board.

[0073] The first strain gauge 17 and the second strain gauge 18 form a Wheatstone bridge, the first strain bin group is connected to the first transfer bin 15, the third strain gauge 19 and the fourth strain gauge 20 form a Wheatstone bridge, and the second strain bin group is connected to the second transfer bin 16, that is, the sensor is designed to have independent dual-channel redundant output. When the force sensor is working, one channel is used (one signal output composed of the first strain gauge 17, the second strain gauge 18, the first signal acquisition circuit board and the first connector 13 or one signal output composed of the third strain gauge 19, the fourth strain gauge 20, the second signal acquisition circuit board and the second connector 14), and the other channel is reserved (one signal output composed of the third strain gauge 19, the fourth strain gauge 20, the second signal acquisition circuit board and the second connector 14 or one signal output composed of the first strain gauge 17, the second strain gauge 18, the first signal acquisition circuit board and the first connector 13). If an abnormality occurs in one channel during work, the docking cable is replaced to access the spare channel, and the sensor can continue to be used normally without affecting the measurement work.

[0074] As an implementation mode, the first signal acquisition circuit board is disposed in the first transfer compartment 15 , and the second signal acquisition circuit board is disposed in the second transfer compartment 16 .

[0075] As an implementation mode, the sensor elastic body 1 can also be provided with a separate electronic compartment, the electronic compartment includes a first electronic compartment and a second electronic compartment, the first signal acquisition circuit board is arranged in the first electronic compartment, and the second signal acquisition circuit board is arranged in the second electronic compartment. The first electronic compartment is located between the first transfer compartment 15 and the second strain compartment 8, and the first electronic compartment is connected to the first transfer compartment 15, and the first electronic compartment is connected to the second strain compartment 8. The second electronic compartment is located between the second transfer compartment 16 and the fourth strain compartment 11, and the second electronic compartment is connected to the second transfer compartment 16, and the second electronic compartment is connected to the fourth strain compartment 11.

[0076] In this embodiment, the first connector 13 is arranged in the first transfer chamber 15, and a first transfer sleeve 21 is also provided between the first connector 13 and the inner wall of the first transfer chamber 15. The first transfer sleeve 21 is sleeved on the first connector 13 for fixing and protecting the first connector 13. The first connector 13, the first transfer sleeve 21 and the first transfer chamber 15 are combined to form a first connector port 4.

[0077] The second connector 14 is arranged in the second transfer compartment 16, and a second transfer sleeve 22 is also provided between the second connector 14 and the inner wall of the second transfer compartment 16. The second transfer sleeve 22 is sleeved on the second connector 14 for fixing and protecting the second connector 14. The second connector 14, the second transfer sleeve 22 and the second transfer compartment 16 are combined to form a second connector port 5.

[0078] Furthermore, the sensor elastomer 1 is cylindrical, the adapter chamber is arranged at one end of the sensor elastomer 1, and the other end of the sensor elastomer 1 is provided with a mounting portion 6.

[0079] The mounting portion 6 is used to mount and fix the force sensor, and the force sensor is installed in the structure for measurement.

[0080] The force sensor also includes a cable harness, which is used to connect to the first connector 4 or the second connector 5 to output the force data monitored by the force sensor.

[0081] The utility model is a force sensor with anti-collision function and redundant output, which is composed of a sensor elastic body, 4PCS strain gauges, 2PCS circuit boards, two connectors and adapter sleeves, and matching cable harnesses. The four strain gauges form two independent Wheatstone bridges, output two groups of mv signals, which are respectively connected to two circuit boards (signal acquisition circuits or transmission circuits) for signal transmission (the circuit boards are designed according to needs, which can be mA, V, CAN, etc.), and then connected to the connectors.

[0082] The connector of the force sensor of the utility model is sunk into the elastic body, so as to achieve the anti-collision effect.

[0083] When the force sensor of the utility model outputs abnormally, the interface can be replaced in time, connected to the spare interface, and continued to be used, which saves the cost of replacing the sensor and does not affect the measurement work. While saving the cost of repairing and replacing the force sensor, it also increases the service life of the force sensor.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0085] It is not difficult for those skilled in the art to understand that the utility model includes any combination of the utility model content and the specific implementation method part of the above specification and the various parts shown in the drawings. Due to the limited space and to make the specification concise, the various schemes composed of these combinations are not described one by one. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

[0086] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A force sensor with anti-collision redundant output, comprising a sensor elastic body, characterized in that: It also includes a first connector and a second connector. A strain bin and a transfer bin are provided on the sensor elastomer. The strain bin and the transfer bin are both arranged inside the sensor elastomer. There are two groups of strain bins. The transfer bin includes a first transfer bin and a second transfer bin. The first connector is arranged inside the first transfer bin, and the second connector is arranged inside the second transfer bin.

2. A force sensor with anti-collision redundant output according to claim 1, characterized in that: The two groups of strain bins are respectively a first strain bin group and a second strain bin group. The first strain bin group includes a first strain bin and a fourth strain bin. The first strain bin and the fourth strain bin are connected via a wire hole.

3. A force sensor with anti-collision redundant output according to claim 2, characterized in that: A first strain gauge is provided in the first strain bin, a fourth strain gauge is provided in the fourth strain bin, a first sealing cover is provided at the bin opening of the first strain bin, and a fourth sealing cover is provided at the bin opening of the fourth strain bin.

4. A force sensor with anti-collision redundant output according to claim 2 or 3, characterized in that: The second strain bin group includes a second strain bin and a third strain bin, and the second strain bin and the third strain bin are connected via a wire hole.

5. A force sensor with anti-collision redundant output according to claim 4, characterized in that: A second strain gauge is provided in the second strain bin, a third strain gauge is provided in the third strain bin, a second sealing cover is provided at the bin opening of the second strain bin, and a third sealing cover is provided at the bin opening of the third strain bin.

6. A force sensor with anti-collision redundant output according to claim 3, characterized in that: The first strain gauge and the fourth strain gauge form a Wheatstone bridge, and the first strain bin group is connected to the second transfer bin.

7. A force sensor with anti-collision redundant output according to claim 5, characterized in that: The second strain gauge and the third strain gauge form a Wheatstone bridge, and the second strain bin group is connected to the first transfer bin.

8. The force sensor with anti-collision redundant output according to claim 1, characterized in that: The sensor elastic body is cylindrical, the transfer chamber is arranged at one end of the sensor elastic body, and the other end of the sensor elastic body is provided with a mounting portion.

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