Force type sensor

Abstract

The embodiment of the utility model discloses a force sensor, which comprises an elastic body, a plurality of sensitive elements, a circuit board and a plugging structure, wherein the elastic body is provided with a first end and a second end which are opposite to each other. A restraining ring face is arranged on the peripheral face of the first end in a protruding mode, a pressure-bearing ring face is arranged on the end face of the second end in a protruding mode, and the restraining ring face and the pressure-bearing ring face are coaxially arranged. The sensitive elements are all attached to the end face of the first end. The circuit board is arranged on the side, away from the elastic body, of the sensitive element and electrically connected with the sensitive element. The plugging structure comprises a combination hub and a signal probe which are connected with each other. The combination hub is convexly arranged on one side of the circuit board away from the elastic body. According to the technical scheme, an assembly through hole is omitted, the peripheral side of the combination hub is in assembly connection with the mounting groove of the to-be-tested product, so that the end face, provided with the mounting groove, of the to-be-tested product abuts against the constraint ring face, the overall size of the sensor is remarkably reduced, and the force sensor is smaller and more compact in structure.

Description

Technical Field

[0001] This utility model relates to the technical field of sensors, and in particular to a force sensor. Background Technology

[0002] A force sensor is a device used to measure the magnitude of force. It converts the force applied to it into a corresponding electrical signal or other form of output. Force sensors are widely used in industrial, research, and scientific fields to measure and monitor various types of forces, such as pressure, compression, tension, and torque. Specifically, in the automotive industry, force sensors play a crucial role in automobile manufacturing and testing. Their most widespread application is in measuring the braking force of automotive brake calipers. Applying force sensors to next-generation automotive electromechanical braking systems enables high-precision calibration of the braking system, thereby achieving optimal braking force.

[0003] Existing force sensors of this type still have many problems. (1) The structure is too large, making it difficult to meet the internal layout requirements of similar electromechanical braking systems; (2) The sensitivity is low, and it is impossible to achieve a balance between high sensitivity and high strength. Utility Model Content

[0004] This application provides a force sensor to improve upon the shortcomings of existing force sensors.

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

[0006] On the one hand, a force sensor is provided, comprising:

[0007] An elastomer has a first end and a second end opposite to each other; the outer peripheral surface of the first end is provided with a constraint ring surface, and the end face of the second end is provided with a pressure bearing ring surface, wherein the constraint ring surface and the pressure bearing ring surface are coaxially arranged.

[0008] Multiple sensitive elements are attached to the end face of the first end;

[0009] A circuit board is disposed on the side of the sensitive element away from the elastomer and is electrically connected to the sensitive element;

[0010] The connector structure includes a connected socket and a signal probe, wherein the socket protrudes from the side of the circuit board away from the elastomer;

[0011] The outer periphery of the connector is used to assemble and connect with the mounting slot of the product under test, so that the end face of the product under test with the mounting slot abuts against the constraint ring surface. The signal probe is electrically connected to the product under test and the circuit board to realize signal transmission.

[0012] In addition to one or more of the features disclosed above, or as an alternative, the socket is a plug cylinder, and the outer periphery of the socket has a limiting plane that extends along the axial direction of the socket.

[0013] In addition to one or more of the features disclosed above, or alternatively, a plurality of the sensing elements are arranged at a central interval around the center of the elastomer, wherein each of the sensing elements has grooves on opposite sides formed along the thickness direction of the elastomer.

[0014] In addition to one or more of the features disclosed above, or alternatively, the elastomer further includes an annular groove near the first end, the annular groove being formed along the outer peripheral wall of the elastomer and concentrically disposed with respect to the end face of the first end, the annular groove being near the end face of the first end relative to the constraint annular surface in the thickness direction of the elastomer.

[0015] In addition to one or more of the features disclosed above, or as an alternative, it also includes:

[0016] The support member includes a connecting sleeve and a support ring. The support ring is connected to the inner circumferential surface of the connecting sleeve and is located between the circuit board and the end face of the first end. One side of the support ring is used to support the circuit board, and the other side is spaced from the end face of the first end. One end of the connecting sleeve abuts against the first end of the elastic body, and the other end abuts against the socket.

[0017] In addition to one or more of the features disclosed above, or as an alternative, the connecting sleeve has a circumferential limiting notch at one end for abutting the socket, and a circumferential limiting protrusion protrudes from the end face of the socket facing the circuit board. The circumferential limiting notch and the circumferential limiting protrusion are adapted to circumferentially limit the socket. The end face of the socket facing the circuit board abuts against the end face of the connecting sleeve to axially limit the socket and create a gap between the end face and the circuit board. The signal probe abuts against the electrical connection point of the circuit board.

[0018] In addition to one or more of the features disclosed above, or as an alternative, the end face of the connector facing the circuit board is further provided with a radial limiting boss, the outer peripheral surface of the radial limiting boss being in contact with the inner peripheral surface of the connecting sleeve to radially limit the connector.

[0019] In addition to one or more of the features disclosed above, or as an alternative, it also includes a sensor housing, the sensor housing comprising an outer cylinder and a top plate, the top plate having a through hole, one end of the outer cylinder being connected to the outer periphery of the top plate, and the other end being sleeved on the first end of the elastomer, the outer cylinder, the top plate, and the end face of the first end together forming a receiving space, the end of the connector facing away from the circuit board passing through the through hole and located outside the receiving space.

[0020] In addition to one or more of the features disclosed above, or alternatively, the outer diameter of the end of the connector facing away from the circuit board is smaller than the diameter of the through hole, and the outer diameter of the end of the connector for abutting against the circuit board is larger than the diameter of the through hole, and is located within the receiving space.

[0021] In addition to one or more of the features disclosed above, or as an alternative, the signal probe is a variable diameter spring.

[0022] In addition to one or more of the features disclosed above, or as an alternative, the circuit board includes lead connection positions and lead windows extending through its own thickness, each lead window corresponding to a lead connection position. Each sensitive element corresponds to a lead window and is exposed within its corresponding lead window. Leads pass through the lead windows and the inner ring of the support ring, electrically connecting to the corresponding lead connection positions and the sensitive elements.

[0023] In addition to one or more of the features disclosed above, or as an alternative, the sensing element is configured as four, each of the sensing elements having two varistors connected in series, the varistors on the two sensing elements forming a first branch, the varistors on the other two sensing elements forming a second branch, the first branch and the second branch being connected in parallel to form a Wheatstone circuit, the first branch circuit outputting a first signal, and the second branch circuit outputting a second signal.

[0024] One of the above technical solutions has the following advantages or beneficial effects: In practical applications, the force sensor disclosed in this application is inserted into the mounting slot of the product under test via a connector to assemble and connect with the product under test. This allows the constraint ring surface to abut against the end face of the product under test with the mounting slot, establishing force transmission. When a force is applied to the bearing ring surface, the force is transmitted to the constraint ring surface through the elastic body, causing deformation of the elastic body. Compared to traditional force sensors with mounting through holes in the elastic body, traditional designs typically require the shaft structure of the product under test to pass through the mounting through hole to form a force transmission path. The technical solution disclosed in this application, by eliminating the mounting through hole, significantly reduces the overall size of the sensor, making the force sensor smaller and more compact. This design not only optimizes the installation process, making it more convenient, but also facilitates flexible placement of the sensor within the application, thereby improving overall efficiency and applicability. Attached Figure Description

[0025] The technical solution and other beneficial effects of this utility model will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0026] Figure 1 This is an exploded view of the force sensor provided in the embodiments of this application;

[0027] Figure 2 This is a schematic diagram of the structure of the elastomer provided in the embodiments of this application;

[0028] Figure 3 This is a cross-sectional view of the force sensor provided in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the Wheatstone circuit of the force sensor provided in the embodiments of this application;

[0030] Figure 5 This is a top view (excluding the connector structure) of the force sensor provided in the embodiment of this application.

[0031] Figure 6 This is a schematic diagram of the sensitive element provided in the embodiments of this application.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Elastomer; 11. First end; 12. Second end; 13. Constraining annular surface; 14. Bearing annular surface; 15. Groove; 16. Annular groove; 17. Abutting annular surface; 171. Positioning protrusion; 18. Assembly boss; 19. Assembly groove;

[0034] 2. Sensitive element;

[0035] 3. Circuit board; 31. Lead connection position; 32. Lead window; 33. Assembly notch; 34. Electrical connection point;

[0036] 4. Connector structure; 41. Connector socket; 411. Limiting plane; 412. Circumferential limiting protrusion; 413. Radial limiting protrusion; 42. Signal probe;

[0037] 5. Sensor housing; 51. Outer cylinder; 52. Top plate; 521. Through hole;

[0038] 6. Support component; 61. Connecting sleeve; 611. Positioning groove; 612. Circumferential limiting notch; 62. Support ring; 621. Assembly protrusion; Detailed Implementation

[0039] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be 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 merely for explaining the present utility model and are not intended to limit the present utility model.

[0040] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] This application discloses a force sensor, referring to... Figure 1 and Figure 2 The system includes: an elastomer 1, a sensing element 2, a circuit board 3, and a connector structure 4. The elastomer 1 has a first end 11 and a second end 12, with multiple sensing elements 2 attached to the end face of the first end 11. The circuit board 3 is located on the side of the sensing element 2 away from the elastomer 1 and is electrically connected to the sensing element 2. The connector structure 4 includes a connector socket 41 and a signal probe 42 connected together. The connector socket 41 protrudes from the side of the circuit board 3 away from the elastomer 1. The outer peripheral surface of the first end 11 of the elastomer 1 has a constraint ring surface 13, and the end face of the second end 12 has a pressure-bearing ring surface 14. The constraint ring surface 13 and the pressure-bearing ring surface 14 are coaxial. The outer peripheral side of the connector socket 41 is used for assembly and connection with the mounting slot of the product under test, so that the end face of the product under test with the mounting slot abuts against the constraint ring surface 13. The signal probe 42 electrically connects the product under test and the circuit board 3 to achieve signal transmission.

[0044] With this configuration, in practical applications, the force sensor is inserted into the mounting slot of the product under test via the connector 41 for assembly and connection, ensuring that the constraint ring surface 13 abuts against the end face of the product under test with the mounting slot, establishing a force transmission path. When a force is applied to the bearing ring surface 14, the force is transmitted to the constraint ring surface 13 through the elastic body 1, causing the elastic body 1 to deform. Compared to traditional force sensors with mounting through holes in the elastic body 1, which typically require the shaft structure of the product under test to pass through the mounting through hole to form a force transmission path, the technical solution disclosed in this application significantly reduces the overall size of the sensor by eliminating the mounting through hole in the elastic body 1, making the force sensor smaller and more compact. This design not only optimizes the installation process, making it more convenient, but also facilitates the flexible placement of the sensor within the application, thereby improving overall efficiency and applicability.

[0045] It should be noted that the sensitive element 2 can be different components. In this embodiment, the sensitive element 2 is a silicon strain gauge, which is mounted on the surface of the first end 11 using a glass micro-fusion process. Multiple sensitive elements 2 are arranged at intervals around the center of the elastic body 1, and each sensitive element 2 has grooves 15 formed along the thickness direction of the elastic body 1 on both opposite sides. This arrangement concentrates the stress change on the end face of the first end 11 between the two opposite grooves 15, making it easier for the sensitive element 2 to detect the stress change in the elastic body 1. Furthermore, to further improve the sensitivity of the force sensor, in some embodiments, the elastic body 1 also includes an annular groove 16 near the first end 11. The annular groove 16 is formed along the outer peripheral wall of the elastic body 1 and is concentrically arranged with the end face of the first end 11. In the thickness direction of the elastic body 1, the annular groove 16 is closer to the end face of the first end 11 than the constraining annular surface 13. The design of the annular groove 16 increases the output sensitivity of the force sensor while ensuring the structural strength of the force sensor.

[0046] Furthermore, the number of sensitive elements 2 varies in different embodiments, and different numbers of sensitive elements 2 can constitute different circuits, as shown in the reference. Figure 6 In the application, four sensing elements 2 are configured as an example. Each silicon strain gauge is equivalent to two piezoresistors connected in series. (See reference...) Figure 4Two of the four sensitive elements 2 have varistors forming the first branch, and the other two have varistors forming the second branch. The first and second branches are connected in parallel to form a Wheatstone circuit. The first branch outputs a first signal, and the second branch outputs a second signal. Specifically, the first varistor R1 and the second varistor R2 in the first sensitive element 2 are connected in series; the third varistor R3 and the fourth varistor R4 in the second sensitive element 2 are connected in series; the fifth varistor R5 and the sixth varistor R6 in the third sensitive element 2 are connected in series; and the seventh varistor R7 and the eighth varistor R8 in the fourth sensitive element 2 are connected in series. The first and second sensitive elements 2 form the first branch. The first varistor R1 and the third varistor R3 are connected in parallel to form a bridge arm, whose resistance increases with increasing force. The second varistor R2 and the fourth varistor R4 are connected in parallel to form a bridge arm, whose resistance decreases with increasing force. The third and fourth sensitive elements 2 constitute the second branch. The fifth and seventh varistor R5 and R7 are connected in parallel to form a bridge arm, whose resistance increases with increasing force. The sixth and eighth varistor R6 and R8 are connected in parallel to form a bridge arm, whose resistance decreases with increasing force. Signal output terminals are formed at the connection points of the bridge arms in both branches. When the elastic body 1 is subjected to force, the stress change caused by the slight deformation of the elastic body 1 is fed back to the sensitive element 2, causing the first branch to output a first signal and the second branch to output a second signal. The first and second signals together constitute a differential signal. The differential signal is used to characterize the stress change through the change in the resistance of the varistor. It should be noted that in some embodiments, a conditioning chip is also provided on the circuit board 3. The conditioning chip calibrates and amplifies the differential signal, outputting the corresponding analog or digital signal for further processing or analysis by subsequent modules.

[0047] In some embodiments, the connector 41 is a plug-in cylinder, and to facilitate precise alignment of the signal probe 42 with the mounting slot of the product under test, the outer circumferential surface of the plug-in cylinder has a limiting plane 411 extending along its axial direction, and the mounting slot is adapted to the plug-in cylinder. With this configuration, during assembly, the connector 41 is directly inserted into the mounting slot, which allows the signal probe 42 to be precisely aligned. In some embodiments, the signal probe 42 is typically inserted along the axial direction of the connector 41, so that both ends of the connector 41 are exposed, so that one end of itself can abut against the product under test, and the other end abuts against the circuit board 3 of the force sensor, so as to electrically connect the product under test and the circuit board 3. Further, in the embodiments disclosed in this application, the signal probe 42 is a spring probe, and there are three of them. The three signal probes 42 correspond to the power supply electrical connection point, the ground GND electrical connection point, and the output electrical connection point on the circuit board 3, respectively (the power supply electrical connection point, the ground GND electrical connection point, and the output electrical connection point are all electrical connection points 34 on the circuit board 3). By connecting to the corresponding electrical connection point 34, an electrical connection with the circuit board 3 is achieved, and the corresponding function is realized. In practical applications, the number of signal probes 42 can be other numbers. Furthermore, variable diameter spring probes can also be used. Due to their gradient structure, variable diameter spring probes can effectively disperse the force, avoid excessive force at a single point, and prevent probe deformation or damage, thereby extending their service life and reducing maintenance costs.

[0048] Furthermore, the elastomer 1 is typically made of metal. Direct contact between the metal elastomer 1 and the circuit board 3 could cause a short circuit, affecting the accuracy and stability of the sensor. Simultaneously, to avoid electromagnetic interference from the electronic components on the circuit board 3, which could also affect the sensor's performance, [further details are needed]. Figure 1 and Figure 3In some embodiments, the force sensor further includes a support member 6, which includes a connecting sleeve 61 and a support ring 62. The support ring 62 is connected to the inner circumferential surface of the connecting sleeve 61. The support ring 62 is located between the end face of the circuit board 3 and the first end 11. One side surface of the support ring 62 supports the circuit board 3, and there is a gap between the other side surface and the end face of the first end 11 to avoid damage to the circuit board 3 due to pressure during force transmission. One end of the connecting sleeve 61 abuts against the first end 11 of the elastomer 1, and the other end abuts against the socket 41. In some embodiments, the connecting sleeve 61 and the support ring 62 are integrally formed. Specifically, the outer peripheral surface of the first end 11 of the elastic body 1 is also provided with an abutment ring surface 17. In the thickness direction of the elastic body 1, the abutment ring surface 17 is located between the annular groove 16 and the constraint ring surface 13. That is, the distance between the annular groove 16 and the end face of the first end 11 is less than the distance between the abutment ring surface 17 and the end face of the first end 11, and the distance between the abutment ring surface 17 and the end face of the first end 11 is less than the distance between the constraint ring surface 13 and the end face of the first end 11. The connecting sleeve 61 abuts against the abutment ring surface 17 (the abutment point can be fixedly connected by welding). In order to facilitate the assembly of the force sensor and the positioning of the support 6, a positioning protrusion 171 is also provided on the abutment ring surface 17. The end of the connecting sleeve 61 that abuts against the abutment ring surface 17 is provided with a positioning groove 611. By embedding the positioning protrusion 171 in the positioning groove 611, the support 6 can be accurately positioned, the assembly efficiency of the force sensor can be improved, and the rotation of the support 6 can be avoided after assembly.

[0049] The connector structure 4 plays a crucial role in the assembly process between the force sensor and the product under test. To prevent displacement of the connector structure 4, the embodiments disclosed in this application limit the connector structure 4 in three aspects: circumferential, radial, and axial, so as to ensure its stable installation in the force sensor. (Refer to...) Figure 1 and Figure 3Specifically, this application provides a circumferential limiting protrusion 412 on the end face of the connector 41 facing the circuit board 3, and a circumferential limiting notch 612 on the end of the connecting sleeve 61 that abuts against the connector 41. The circumferential limiting notch 612 and the circumferential limiting protrusion 412 work together to limit the connector 41 circumferentially. Further, this application provides a radial limiting protrusion 413 on the end face of the connector 41 facing the circuit board 3. The outer diameter of the radial limiting protrusion 413 is equal to the inner diameter of the connecting sleeve 61. The outer circumferential surface of the radial limiting protrusion 413 fits against the inner circumferential surface of the connecting sleeve 61, thus limiting the connector 41 radially. Finally, this application limits the connector 41 axially by abutting the end face of the connector 41 facing the circuit board 3 against the end face of the connecting sleeve 61. This design also allows for a gap between the end face and the circuit board 3, preventing the end face from contacting the circuit board 3 during force transmission and thus avoiding damage to the circuit board 3.

[0050] Furthermore, in some embodiments, the force sensor further includes a sensor housing 5, which includes an outer cylinder 51 and a top plate 52. A through hole 521 is formed in the top plate 52. One end of the outer cylinder 51 is connected to the outer periphery of the top plate 52, and the other end is fitted onto the first end 11 of the elastic body 1. The outer cylinder 51, the top plate 52, and the end face of the first end 11 together form a receiving space. The end of the connector 41 facing away from the circuit board 3 passes through the through hole 521 and is located outside the receiving space. The end of the connector 41 that abuts against the circuit board 3 is located inside the receiving space. Specifically, the outer diameter of the end of the connector 41 facing away from the circuit board 3 is smaller than the diameter of the through hole 521, and the outer diameter of the end of the connector 41 that abuts against the circuit board 3 is larger than the diameter of the through hole 521. This arrangement allows the sensor housing 5 and the connecting sleeve 61 to jointly complete the axial positioning of the connector 41. It is worth mentioning that when the outer cylinder 51 of the sensor housing 5 is fitted onto the first end 11 of the elastic body 1, it also abuts against the elastic abutting ring surface 17, and the abutting point can be fixed by welding.

[0051] It should be noted that when the support member 6 isolates the end face of the circuit board 3 and the first end 11 of the elastomer 1 through the support ring 62, the circuit board 3 also needs to electrically connect the sensitive element 2 to the lead connection position 31 on the circuit board 3 through bonding and packaging technology. Specifically, the circuit board 3 includes lead connection positions 31 and lead windows 32 that penetrate its own thickness. The lead windows 32 correspond one-to-one with the lead connection positions 31, and the sensitive element 2 corresponds one-to-one with the lead windows 32 and is exposed in the lead windows 32. The lead passes through the lead windows 32 and the inner ring of the support ring 62 to electrically connect the corresponding lead connection positions 31 and the sensitive element 2. In order to facilitate the precise positioning of the circuit board 3, an assembly notch 33 is opened on the outer peripheral surface of the circuit board 3, and an assembly bump 621 is protruding on the inner ring surface of the support ring 62. By embedding the assembly bump 621 into the assembly notch 33, the circuit board 3 can be precisely positioned so that the lead sensitive element 2 is exposed in the corresponding lead window 32.

[0052] It is worth mentioning that the pressure-bearing ring surface 14 protrudes from the end face of the second end 12, and the elastic body 1 is also designed with an assembly boss 18 and an assembly groove 19 on the outer circumferential surface near the constraint ring surface 13. The assembly boss 18 and the assembly groove 19 can play a circumferential limiting role when the force sensor is assembled in the cylindrical cavity (which can be applied in the processing or application of the force sensor).

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A force sensor, characterized in that, include: An elastomer (1) has a first end (11) and a second end (12) opposite to each other; the outer peripheral surface of the first end (11) is provided with a constraint ring surface (13), and the end face of the second end (12) is provided with a pressure bearing ring surface (14), the constraint ring surface (13) and the pressure bearing ring surface (14) are coaxially arranged; Multiple sensitive elements (2) are attached to the end face of the first end (11); A circuit board (3) is disposed on the side of the sensitive element (2) away from the elastomer (1) and is electrically connected to the sensitive element (2); The connector structure (4) includes a connector (41) and a signal probe (42) connected to each other. The connector (41) protrudes from the side of the circuit board (3) away from the elastic body (1). The outer periphery of the connector (41) is used to assemble and connect with the mounting slot of the product under test, so that the end face of the product under test with the mounting slot abuts against the constraint ring surface (13). The signal probe (42) is electrically connected to the product under test and the circuit board (3) to realize signal transmission.

2. The force sensor according to claim 1, characterized in that, The socket (41) is a plug-in cylinder, and the outer periphery of the socket (41) has a limiting plane (411) that extends along the axial direction of the socket (41).

3. The force sensor according to claim 1, characterized in that, Multiple sensitive elements (2) are arranged at intervals around the center of the elastomer (1), wherein each of the sensitive elements (2) has a groove (15) on each side opposite to the other, which is formed along the thickness direction of the elastomer (1).

4. The force sensor according to claim 1, characterized in that, The elastic body (1) further includes an annular groove (16) near the first end (11). The annular groove (16) is opened along the outer peripheral wall of the elastic body (1) and is concentrically arranged with the end face of the first end (11). In the thickness direction of the elastic body (1), the annular groove (16) is closer to the end face of the first end (11) relative to the constraint annular surface (13).

5. The force sensor according to claim 2, characterized in that, Also includes: The support member (6) includes a connecting sleeve (61) and a support ring (62). The support ring (62) is connected to the inner circumferential surface of the connecting sleeve (61) and is located between the end face of the circuit board (3) and the first end (11). One side of the support ring (62) is used to support the circuit board (3), and the other side is spaced from the end face of the first end (11). One end of the connecting sleeve (61) abuts against the first end (11) of the elastic body (1), and the other end abuts against the socket (41).

6. The force sensor according to claim 5, characterized in that, The connecting sleeve (61) has a circumferential limiting notch (612) at one end that abuts against the socket (41). The socket (41) has a circumferential limiting protrusion (412) protruding on the end face of the end facing the circuit board (3). The circumferential limiting notch (612) and the circumferential limiting protrusion (412) are adapted to limit the circumferential position of the socket (41). The end face of the socket (41) facing the circuit board (3) abuts against the end face of the connecting sleeve (61) to limit the axial position of the socket (41) and create a gap between the end face and the circuit board (3). The signal probe (42) abuts against the electrical connection point (34) of the circuit board (3).

7. The force sensor according to claim 6, characterized in that, The end face of the connector (41) facing the circuit board (3) is further provided with a radial limiting boss (413). The outer peripheral surface of the radial limiting boss (413) is in contact with the inner peripheral surface of the connecting sleeve (61) to radially limit the connector (41).

8. The force sensor according to claim 5, characterized in that, It also includes a sensor housing (5), which includes an outer cylinder (51) and a top plate (52). The top plate (52) has a through hole (521) that passes through the top plate (52). One end of the outer cylinder (51) is connected to the outer periphery of the top plate (52), and the other end is sleeved on the first end (11) of the elastic body (1). The outer cylinder (51), the top plate (52), and the end face of the first end (11) together form a receiving space. The end of the connector (41) facing away from the circuit board (3) passes through the through hole (521) and is located outside the receiving space.

9. The force sensor according to claim 8, characterized in that, The outer diameter of the end of the connector (41) facing away from the circuit board (3) is smaller than the diameter of the through hole (521), and the outer diameter of the end of the connector (41) used to abut against the circuit board (3) is larger than the diameter of the through hole (521), and is located within the receiving space.

10. The force sensor according to claim 1, characterized in that, The signal probe (42) is a variable diameter spring.

11. The force sensor according to claim 5, characterized in that, The circuit board (3) includes lead connection positions (31) and lead windows (32) that extend through its own thickness. The lead windows (32) correspond one-to-one with the lead connection positions (31). The sensitive element (2) corresponds one-to-one with the lead windows (32) and is exposed in the corresponding lead windows (32). The lead passes through the lead windows (32) and the inner ring of the support ring (62) to electrically connect the corresponding lead connection positions (31) and the sensitive element (2).

12. The force sensor according to claim 1, characterized in that, The sensitive element (2) is configured as four, and each sensitive element (2) has two varistors connected in series. The varistors on the two sensitive elements (2) form a first branch, and the varistors on the other two sensitive elements (2) form a second branch. The first branch and the second branch are connected in parallel to form a Wheatstone circuit. The first branch circuit outputs a first signal, and the second branch circuit outputs a second signal.

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