Force sensor

Abstract

The utility model discloses a force sensor. The force sensor comprises an elastic body, a supporting structure, a circuit board and a sensitive element, the elastic body comprises a first end and a second end which are opposite, a plurality of bumps arranged at intervals are convexly arranged on the end surface of the first end, through grooves penetrating through the bumps are formed in the side walls of the bumps, the sensitive element is attached to the surface of one side, deviating from the end surface of the first end, of each bump, and the circuit board is electrically connected with the sensitive element. The second end is provided with a stress ring surface, the side wall of the elastic body is convexly provided with a fixed ring surface, the stress ring surface and the fixed ring surface are oppositely arranged in the thickness direction of the elastic body, the stress ring surface is a pressure-bearing surface of the force sensor, and the fixed ring surface is a fixed constraint surface of the force sensor. The first end of the elastic body is provided with the protruding block in a protruding mode, when the stress ring face is stressed, the design of the protruding block and the through groove can enable the mounting position of the sensitive element to generate large stress changes, the sensitive element is attached to the surface of the side, away from the end face of the first end, of the protruding block, and the stress changes can be captured more accurately.

Description

TECHNICAL FIELD

[0001] The utility model relates to force sensor technical field, especially force sensor. BACKGROUND

[0002] Force sensor is a kind of equipment for measuring force size, application is very extensive, such as: in some need to carry axial load structure and device, usually utilize force sensor monitoring load-carrying structure or device, to ensure its normal operation. Specifically, in the automobile brake system, motor, gear, screw rod as the force transmission mechanism of brake force, force needs to be detected in real time during transmission to adjust brake force, force sensor can be applied in force transmission process, and accurate detection is achieved to brake force.

[0003] The existing force sensor usually includes an elastic body, which can deform after being stressed, and a sensitive element attached to the elastic body can monitor the deformation and convert it into an electrical signal output. However, when the force sensor is applied in the automotive field, the size of the elastic body is designed to be relatively large in order to adapt to the size of the force transmission mechanism of the automobile, resulting in a small stress generated by the elastic body after being stressed, and a low sensitivity problem. SUMMARY

[0004] The embodiments of the present utility model provide a kind of force sensor, to improve the sensitivity of force sensor.

[0005] To solve the above technical problems, the embodiments of the present utility model disclose the following technical solutions:

[0006] A force sensor is provided, comprising an elastic body, a support structure, a circuit board and a sensitive element.

[0007] The elastic body includes opposite first and second ends. The first end has a plurality of spaced protrusions on its end face. Each protrusion has a through slot on its side wall. Each sensitive element is attached to the side surface of the protrusion away from the first end. The support structure is in abutment with the end face of the first end. The circuit board is connected to the side surface of the support structure away from the first end. Each protrusion is exposed on the end face of the support structure away from the first end. The circuit board is electrically connected to each sensitive element.

[0008] The second end has a stress ring surface. The side wall of the elastic body has a fixed ring surface. In the thickness direction of the elastic body, the stress ring surface and the fixed ring surface are oppositely arranged. The stress ring surface is the pressure surface of the force sensor, and the fixed ring surface is the fixed constraint surface of the force sensor.

[0009] The center of the elastic body also has a first assembly hole passing through the first end and the second end, and the center of the circuit board has a second assembly hole passing through its own thickness, and the first assembly hole and the second assembly hole are concentrically arranged.

[0010] In addition to one or more of the features disclosed above, or as an alternative, a convex ring is provided on the end face of the first end, the convex ring is arranged concentrically with the first assembly hole, the multiple protrusions are connected to the side wall of the convex ring, the multiple protrusions are distributed at intervals along the circumference of the convex ring, and are symmetrical in pairs, and each through groove passing through the protrusion is opened along the circumference of the convex ring, wherein the multiple protrusions are integrally formed with the convex ring.

[0011] In addition to one or more of the features disclosed above, or as an alternative, the through groove has a first groove wall and a second groove wall that are parallel to and opposite to the end face of the first end, and a third groove wall and a fourth groove wall connecting the first groove wall and the second groove wall, the third groove wall and the fourth groove wall are opposite to each other, and the third groove wall and the fourth groove wall are both arc-shaped concave surfaces.

[0012] In addition to or as an alternative to one or more of the features disclosed above, the force-bearing annular surface protrudes from the end surface of the second end.

[0013] In addition to one or more of the features disclosed above, or as an alternative, an annular groove is further provided on the end face of the second end of the elastomer, the annular groove is concentrically arranged with the force-bearing annular surface, and the inner diameter of the annular groove is larger than the outer diameter of the force-bearing annular surface.

[0014] In addition to one or more of the features disclosed above, or as an alternative, the support structure includes a support plate and an abutment ring connected to the edge of the support plate, the end of the abutment ring facing away from the support plate abuts against the end face of the first end, the support plate has a plurality of first windows extending through its own thickness, the circuit board has a plurality of second windows extending through its own thickness, the first windows and the second windows correspond one-to-one, the first windows correspond one-to-one to the protrusions, and the end face of the protrusion facing away from the first end is exposed in the corresponding first window and second window.

[0015] In addition to one or more of the features disclosed above, or as an alternative, the support plate further has a positioning groove that passes through its own thickness, the groove wall of the positioning groove is in contact with the side wall of the convex ring, a positioning notch is provided on the groove wall of the positioning groove, a positioning protrusion is provided on the side wall of the convex ring, the positioning notch and the positioning protrusion are adapted to each other, and the positioning protrusion is embedded in the positioning notch.

[0016] In addition to one or more of the features disclosed above, or as an alternative, the support plate has a first positioning hole that penetrates its own thickness, and the circuit board has a second positioning hole that penetrates its own thickness, and in the thickness direction of the support plate, the projection of the first positioning hole and the projection of the second positioning hole overlap.

[0017] In addition to or as an alternative to one or more of the features disclosed above, the present invention further includes a sensor housing, the sensor housing including an outer cylinder, an inner cylinder, and a top plate, the top plate having a third assembly hole extending through the thickness of the top plate, the third assembly hole and the second assembly hole being concentrically arranged, the outer cylinder being connected to an edge of the top plate, the inner cylinder being connected to a hole wall of the third assembly hole, the side of the outer cylinder facing away from the top plate being in contact with an end surface of the first end, and the inner cylinder being in contact with the hole walls of the second assembly hole and the hole walls of the third assembly hole;

[0018] The bump, the circuit board, and the supporting structure are located in a cavity formed by the outer cylinder, the top plate, the inner cylinder, and the end surface of the first end.

[0019] In addition to one or more of the features disclosed above, or as an alternative, it also includes a wiring harness, a wire outlet is provided on the top plate, and a plurality of electrical connection contact positions are provided on the surface of the end face of the circuit board facing away from the first end, the plurality of electrical connection contact positions including at least a power supply contact position, a grounding contact position, and a signal transmission contact position, the wiring harness is connected to different electrical connection contact positions and passes through the sensor housing from the wire outlet.

[0020] In addition to or as an alternative to one or more of the features disclosed above, a positioning groove is formed on the side wall of the elastic body, and the positioning groove is used to position the force sensor.

[0021] One of the above technical solutions has the following advantages or beneficial effects: a protrusion is provided on the end face of the first end of the elastomer. When the force-bearing annular surface is subjected to force, the surface of the protrusion facing away from the first end is more likely to produce a larger stress change than the surface of the first end. The sensitive element is attached to the side surface of the end face of the protrusion facing away from the first end, which can more accurately capture the stress change, thereby improving the sensitivity of the force sensor. In addition, the side wall of each protrusion is provided with a through groove that passes through the protrusion. The through groove can change the stress distribution applied to the protrusion, so that the force is concentrated in the area around the through groove. This concentration effect can cause greater local stress to be generated at the location where the sensitive element is mounted, thereby allowing the sensitive element to capture more significant deformation signals. In this way, the sensitivity and overall performance of the force sensor can be improved while maintaining its dimensional adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The technical solutions and other beneficial effects of the present invention will be made apparent by describing in detail the specific embodiments of the present invention in conjunction with the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the structure of a force sensor provided in an embodiment of the present application. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the structure of a force sensor provided in an embodiment of the present application. Figure 2 ;

[0025] Figure 3 yes Figure 2 Cross-sectional view at AA in the middle.

[0026] Description of reference numerals:

[0027] 100, elastic body; 101, first end; 102, second end; 1021, force-bearing annular surface; 1022, annular groove; 103, protrusion; 1031, through groove; 1032, positioning protrusion; 104, fixed annular surface; 105, first assembly hole; 106, protruding ring; 107, positioning groove;

[0028] 200, support structure; 201, support plate; 2011, first window; 2012, positioning groove; 20121, positioning notch; 2013, first positioning hole; 202, abutment ring;

[0029] 300, circuit board; 301, second assembly hole; 302, second window; 303, second positioning hole; 304, electrical connection contact position; 305, conditioning chip;

[0030] 400, sensitive components;

[0031] 500, sensor housing; 501, outer cylinder; 502, inner cylinder; 503, top plate; 5031, third assembly hole; 5032, wire outlet;

[0032] 600, wiring harness;

[0033] 700. Sealing ring. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are only for the purpose of explaining the present invention and are not intended to limit the present invention.

[0035] The present invention discloses a force sensor. Figure 1, the force sensor includes: an elastomer 100, a support structure 200, a circuit board 300 and a sensitive element 400. The elastomer 100 includes a first end 101 and a second end 102 relative to each other, and the end surface of the first end 101 is provided with a plurality of spaced protrusions 103, and the side wall of each protrusion 103 is provided with a through groove 1031 that passes through the protrusion 103. A sensitive element 400 is attached to the surface of the end surface of each protrusion 103 facing away from the first end 101. The support structure 200 abuts against the end surface of the first end 101, and the circuit board 300 is connected to the surface of the end surface of the support structure 200 facing away from the first end 101. Each protrusion 103 is exposed on the surface of the end surface of the support structure 200 facing away from the first end 101, and the circuit board 300 is electrically connected to each sensitive element 400. Refer to Figure 3 The second end 102 has a force-bearing annular surface 1021, and a fixed annular surface 104 is protruded from the sidewall of the elastomer 100. The force-bearing annular surface 1021 and the fixed annular surface 104 are arranged opposite each other in the thickness direction of the elastomer 100. The force-bearing annular surface 1021 serves as the pressure-bearing surface of the force sensor, while the fixed annular surface 104 serves as the fixed constraint surface of the force sensor. The elastomer 100 also has a first assembly hole 105 at its center, extending through the first and second ends 101 and 102. The circuit board 300 has a second assembly hole 301 at its center, extending through its thickness. The first assembly hole 105 and the second assembly hole 301 are concentrically arranged. It should be noted that the bump 103 and the elastomer 100 are typically integrally formed.

[0036] A bump 103 is provided on the end face of the first end 101 of the elastomer 100. When the force-bearing annular surface 1021 is subjected to force, the surface of the bump 103 facing away from the first end 101 is more likely to produce a larger stress change than the surface of the first end 101. Attaching the sensitive element 400 to the side surface of the bump 103 facing away from the first end 101 can more accurately capture stress changes, thereby improving the sensitivity of the sensor. In addition, the side wall of each bump 103 is provided with a through groove 1031 that passes through the bump 103. The through groove 1031 can change the stress distribution applied to the bump 103, so that the force is concentrated in the area around the through groove 1031. This concentration effect can lead to greater local deformation, thereby allowing the sensitive element 400 to capture more significant deformation signals. In this way, the sensitivity and overall performance of the force sensor can be improved while maintaining its dimensional adaptability. It is worth mentioning that in some embodiments, the through groove 1031 has a first groove wall and a second groove wall that are parallel to and opposite to the end face of the first end 101 (that is, the first groove wall and the second groove wall are straight groove walls), as well as a third groove wall and a fourth groove wall connecting the first groove wall and the second groove wall, the third groove wall and the fourth groove wall are opposite to each other, and the third groove wall and the fourth groove wall are both arc-shaped concave surfaces. The arc-shaped concave surface can concentrate stress near the through groove 1031, forming a significant local stress concentration area, amplifying stress changes, making the sensitive element 400 more sensitive to small changes in stress, thereby improving the sensitivity of the sensor. Compared with a sharp edge design, the arc-shaped concave surface can smooth stress distribution, reduce the risk of material fatigue caused by stress concentration, and improve the long-term reliability of the structure. The straight groove walls (the first groove wall and the second groove wall) can provide more support for the bump 103 when subjected to force, preventing excessive deformation of the structure.

[0037] In some embodiments, the end surface of the first end 101 is further provided with a protruding ring 106, which is concentrically arranged with the first assembly hole 105. A plurality of protrusions 103 are connected to the sidewall of the protruding ring 106. The plurality of protrusions 103 are spaced apart along the circumference of the protruding ring 106 and are symmetrical with each other. Each through groove 1031 that passes through the protrusion 103 is opened along the circumference of the protruding ring 106. It should be noted that the protruding ring 106, the plurality of protrusions 103, and the elastomer 100 are integrally formed, and the spacing between each protrusion 103 is equal. The evenly spaced protrusions 103 allow the sensor to have relatively independent force points at different positions, so that each protrusion 103 can independently respond to the applied force, thereby enhancing the overall sensing ability of the sensor. Multiple independent force points help to more effectively disperse external interference, ensuring that the sensitive element 400 is not easily affected by interference from a single direction when detecting signals, thereby improving the accuracy of the signal. In addition, the symmetrical design further reduces the signal fluctuation in a specific direction or position, so that the sensor can maintain a consistent response under different working conditions, thereby improving the stability of the overall performance. It should be noted that the sensitive element 400 can be different components. In the embodiment of the present application, the bump 103 is set to four, and the sensitive element 400 is correspondingly provided with four, and all are resistance strain gauges, and the resistance strain gauges are mounted on the bump 103 by a glass micro-melting process. Further, the four sensitive elements 400 form a Wheatstone bridge, which can output a differential signal after being connected to the circuit board 300. After the differential signal is input to the circuit board 300, it can be amplified accordingly by the circuit board 300. The circuit in the circuit board 300 can also convert the amplified signal into an analog or digital form for further processing or analysis. In some embodiments, the circuit board 300 is also electrically connected to a conditioning chip 305, which is used to amplify, filter, or calibrate the signal output by the sensitive element 400.

[0038] Furthermore, the support structure 200 includes a support plate 201 and an abutment ring 202 connected to the edge of the support plate 201. The end of the abutment ring 202 facing away from the support plate 201 abuts against the end surface of the first end 101. In the embodiment disclosed in this application, the end of the abutment ring 202 facing away from the support plate 201 can be connected to the end surface of the first end 101 by welding to secure the support structure 200 to the end surface of the first end 101. The support plate 201 also has a plurality of first windows 2011 extending through its thickness, and the circuit board 300 has a plurality of second windows 302 extending through its thickness. The bumps 103 correspond one-to-one with the first windows 2011, and the first windows 2011 and the second windows 302 correspond one-to-one. In the thickness direction of the support plate 201, the projections of the corresponding bumps 103, first windows 2011, and second windows 302 overlap, and the end surface of the bump 103 facing away from the first end 101 is exposed in the corresponding first window 2011 and second window 302. This design allows the sensor 400, after being mounted on the end surface of the bump 103 facing away from the first end 101, to be electrically connected to the circuit board 300 through the first window 2011 and second window 302, facilitating signal transmission and processing.

[0039] To ensure that the protrusions 103 are exposed in the corresponding first windows 2011, the support plate 201 further has a positioning groove 2012 extending through the thickness of the support plate 201. The groove wall of the positioning groove 2012 is aligned with the side wall of the protruding ring 106. A positioning notch 20121 is formed in the groove wall of the positioning groove 2012. A positioning protrusion 1032 is provided on the side wall of the protruding ring 106. The positioning notch 20121 and the positioning protrusion 1032 are adapted to fit within the positioning notch 20121. The design of the positioning protrusion 1032 embedded within the positioning notch 20121 allows the support structure 200 to be naturally locked in the correct position during installation, thereby ensuring that the corresponding protrusion 103 is exposed in the first window 2011.

[0040] Furthermore, to ensure that the bumps 103 are exposed in the corresponding second windows 302, the support plate 201 has a first positioning hole 2013 extending through its thickness, and the circuit board 300 has a second positioning hole 303 extending through its thickness. In the thickness direction of the support plate 201, the projection of the first positioning hole 2013 and the projection of the second positioning hole 303 overlap. When the circuit board 300 is mounted on the end surface of the support plate 201 facing away from the first end 101, the second positioning hole 303 and the first positioning hole 2013 are aligned using a jig. This ensures that the corresponding first windows 2011 and second windows 302 are aligned, allowing the bumps 103 to be exposed in the corresponding second windows 302. It should be noted that the support plate 201 is made of an insulating material, and the elastomer 100 is made of metal. Positioning the support plate 201 between the circuit board 300 and the end surface of the first end 101 not only supports the circuit board 300 but also prevents direct contact between the elastomer 100 and the circuit board 300, which could cause a short circuit.

[0041] In some embodiments, reference Figure 2 and Figure 3 The stress-bearing annular surface 1021 protrudes from the end surface of the second end 102. An annular groove 1022 is also defined on the end surface of the second end 102 of the elastic body 100. The annular groove 1022 is concentric with the stress-bearing annular surface 1021, and the inner diameter of the annular groove 1022 is greater than the outer diameter of the stress-bearing annular surface 1021. It should be noted that in some embodiments, the inner diameter of the fixed annular surface 104 is also greater than the outer diameter of the annular groove 1022.

[0042] In order to better package the force sensor, refer to Figure 1 and Figure 3 In some embodiments, the force sensor further includes a sensor housing 500, which includes an outer cylinder 501, an inner cylinder 502, and a top plate 503. The top plate 503 has a third assembly hole 5031 extending through its thickness. The outer cylinder 501 is connected to the edge of the top plate 503, and the inner cylinder 502 is connected to the wall of the third assembly hole 5031. The third assembly hole 5031 and the second assembly hole 301 are arranged concentrically. The side of the outer cylinder 501 facing away from the top plate 503 abuts the end surface of the first end 101, and the inner cylinder 502 is in contact with the walls of the second assembly hole 301 and the third assembly hole 5031. When the sensor housing 500 is positioned on the end surface of the first end 101, the bump 103, the circuit board 300, and the support structure 200 are located in the cavity formed by the outer cylinder 501, the top plate 503, the inner cylinder 502, and the end surface of the first end 101. It should be noted that, when the force sensor is used, the assembly channel formed by the first assembly hole 105 , the second assembly hole 301 and the third assembly hole 5031 is used for shaft parts to pass through.

[0043] In some embodiments, the force sensor further comprises a sealing ring 700, a sealing groove is formed in the wall of the first assembly hole 105 along the circumference of the assembly hole, and the sealing ring 700 is embedded in the sealing groove. The wall surface of the inner cylinder 502 of the sensor shell 500 abuts against the sealing ring 700 to form a radial seal for the force sensor. This prevents lubricants such as grease from seeping into the force sensor when the force sensor is assembled with other devices.

[0044] Further, the force sensor further comprises a wire harness 600, the top plate 503 is provided with a wire outlet 5032, and the side surface of the circuit board 300 away from the end surface of the first end 101 is further provided with a plurality of electrical connection contact positions 304. The plurality of electrical connection contact positions 304 at least include a power supply contact position, a ground contact position, and a signal transmission contact position. The wire harness 600 is connected with different electrical connection contact positions 304 and passes out of the sensor shell 500 from the wire outlet 5032.

[0045] In order to facilitate the processing of the force sensor, the side wall of the elastic body 100 is provided with positioning grooves 107, which are specially used for positioning the force sensor. Through these positioning grooves 107, the assembly workers can quickly and accurately align the various components during the installation process, thereby reducing the assembly time and operation difficulty. Precise positioning ensures that the production process of each force sensor remains consistent, reducing defects caused by positioning errors. In addition, these positioning grooves 107 can also be used to effectively fix the force sensor when the force sensor is used, further improving the stability and reliability of use.

[0046] The technical features of the above embodiments can be combined in any way. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0047] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A force sensor, characterized in that: It comprises an elastic body (100), a supporting structure (200), a circuit board (300) and a sensitive element (400); The elastic body (100) comprises a first end (101) and a second end (102) opposite to each other, the end surface of the first end (101) is provided with a plurality of spaced protrusions (103), the side wall of each protrusion (103) is provided with a through groove (1031) passing through the protrusion (103), the sensitive element (400) is attached to the surface of the end surface of each protrusion (103) facing away from the first end (101), the support structure (200) is in contact with the end surface of the first end (101), the circuit board (300) is connected to the surface of the end surface of the support structure (200) facing away from the first end (101), each protrusion (103) is exposed on the surface of the end surface of the support structure (200) facing away from the first end (101), and the circuit board (300) is electrically connected to each sensitive element (400); The second end (102) has a force-bearing annular surface (1021), and a fixed annular surface (104) is convexly provided on the side wall of the elastic body (100). In the thickness direction of the elastic body (100), the force-bearing annular surface (1021) and the fixed annular surface (104) are arranged opposite to each other, the force-bearing annular surface (1021) is the pressure-bearing surface of the force sensor, and the fixed annular surface (104) is the fixed constraint surface of the force sensor. The center of the elastic body (100) further comprises a first assembly hole (105) passing through the first end (101) and the second end (102); the center of the circuit board (300) comprises a second assembly hole (301) passing through the thickness of the circuit board; and the first assembly hole (105) and the second assembly hole (301) are concentrically arranged.

2. The force sensor according to claim 1, wherein A convex ring (106) is convexly provided on the end surface of the first end (101), and the convex ring (106) is concentrically arranged with the first assembly hole (105). The multiple protrusions (103) are connected to the side wall of the convex ring (106). The multiple protrusions (103) are distributed at intervals along the circumference of the convex ring (106) and are symmetrical in pairs. Each through groove (1031) passing through the protrusion (103) is opened along the circumference of the convex ring (106), wherein the multiple protrusions (103) and the convex ring (106) are integrally formed.

3. The force sensor according to claim 2, characterized in that The through groove (1031) has a first groove wall and a second groove wall which are parallel to and opposite to the end face of the first end (101), and a third groove wall and a fourth groove wall which connect the first groove wall and the second groove wall, wherein the third groove wall and the fourth groove wall are opposite to each other, and both the third groove wall and the fourth groove wall are arc-shaped concave surfaces.

4. The force sensor according to claim 1, wherein The force-bearing annular surface (1021) protrudes from the end surface of the second end (102).

5. The force sensor according to claim 4, characterized in that An annular groove (1022) is further provided on the end surface of the second end (102) of the elastic body (100), the annular groove (1022) is concentrically arranged with the force-bearing annular surface (1021), and the inner diameter of the annular groove (1022) is larger than the outer diameter of the force-bearing annular surface (1021).

6. The force sensor according to claim 2, wherein: The support structure (200) comprises a support plate (201) and an abutment ring (202) connected to the edge of the support plate (201); an end of the abutment ring (202) facing away from the support plate (201) abuts against the end face of the first end (101); the support plate (201) has a plurality of first windows (2011) penetrating its own thickness; the circuit board (300) has a plurality of second windows (302) penetrating its own thickness; the first windows (2011) and the second windows (302) correspond one-to-one; the first windows (2011) and the protrusions (103) correspond one-to-one; the end faces of the protrusions (103) facing away from the first end (101) are exposed in the corresponding first windows (2011) and the second windows (302).

7. The force sensor according to claim 6, characterized in that The support plate (201) further comprises a positioning groove (2012) extending through its thickness, the groove wall of the positioning groove (2012) being fitted with the side wall of the convex ring (106), a positioning notch (20121) being provided on the groove wall of the positioning groove (2012), a positioning protrusion (1032) being provided on the side wall of the convex ring (106), the positioning notch (20121) being adapted to the positioning protrusion (1032), and the positioning protrusion (1032) being embedded in the positioning notch (20121).

8. The force sensor according to claim 6, wherein: The support plate (201) has a first positioning hole (2013) extending through its thickness, and the circuit board (300) has a second positioning hole (303) extending through its thickness; in the thickness direction of the support plate (201), the projection of the first positioning hole (2013) and the projection of the second positioning hole (303) overlap.

9. The force sensor according to claim 1, wherein The sensor housing (500) is also included. The sensor housing (500) includes an outer tube (501), an inner tube (502) and a top plate (503). The top plate (503) has a third assembly hole (5031) that penetrates the thickness of the top plate. The third assembly hole (5031) and the second assembly hole (301) are concentrically arranged. The outer tube (501) is connected to the edge of the top plate (503). The inner tube (502) is connected to the hole wall of the third assembly hole (5031). The side of the outer tube (501) facing away from the top plate (503) is in contact with the end face of the first end (101). The inner tube (502) is in contact with the hole wall of the second assembly hole (301) and the hole wall of the third assembly hole (5031). The protrusion (103), the circuit board (300), and the support structure (200) are located in a cavity formed by the outer cylinder (501), the top plate (503), the inner cylinder (502), and the end surface of the first end (101).

10. The force sensor according to claim 9, characterized in that The sensor housing (500) further comprises a wiring harness (600), wherein a wiring outlet (5032) is provided on the top plate (503), and a plurality of electrical connection contact positions (304) are provided on a surface of the end face of the circuit board (300) facing away from the first end (101), wherein the plurality of electrical connection contact positions (304) at least comprise a power supply contact position, a grounding contact position, and a signal transmission contact position, and the wiring harness (600) is connected to different electrical connection contact positions (304) and passes through the wiring outlet (5032) to exit the sensor housing (500).

11. The force sensor according to claim 1, wherein A positioning groove (107) is provided on the side wall of the elastic body (100), and the positioning groove (107) is used to position the force sensor.

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