Sensing device

Abstract

A sensing device comprises a magnet, a flexible supporting structure, a hard supporting structure and a magnetic induction sensor, and the flexible supporting structure is used for bearing the magnet and can receive external force to deform so as to enable the magnet to generate displacement change; the hard supporting structure is used for bearing the flexible supporting structure; the magnetic induction sensor is fixedly arranged relative to the hard supporting structure; the magnetic induction sensor can generate a detection signal according to the change of the relative position of the magnet and the magnetic induction sensor when the flexible supporting structure is stressed and deformed, so as to realize the measurement of multi-dimensional force. According to the utility model, the electromagnetic principle is utilized to realize pressure detection, the structure is simple and reliable, the size can be greatly reduced, and the direction of force can be sensed, so that the multi-direction detection of the force can be realized through a single sensing device, and the application range is greatly expanded. The sensing device provided by the utility model has the characteristics of simple structure, small volume, low cost and wide application, has strong practicability, and is suitable for vigorous popularization.

Description

TECHNICAL FIELD

[0001] The utility model relates to sensing technology field, especially a sensing device. BACKGROUND

[0002] Machine touch is to let machine equipment can simulate human touch perception ability. Such technology makes machine not only can "see" and "hear", also can "feel" the object in outside environment, surface texture, pressure and temperature etc. To realize touch perception, need to adopt special sensor design and material, these sensors need to be able to respond pressure, tension, distortion and vibration etc. The existing pressure sensor is mainly based on piezoresistance effect, utilizes the resistance value of piezoresistance element and the characteristic that the change of pressure is inversely proportional. When being subjected to pressure, the resistance value of piezoresistance element changes, thereby generating electric signal. In addition, there are resistance type, capacitance type, piezoelectric type, photosensitive type etc. The existing these pressure sensors are usually large in size, complex in structure, high in cost, and difficult to realize multidirectional force dynamic and static measurement with single sensor. Therefore, further improvement is needed. SUMMARY

[0003] The utility model aims at solving above-mentioned problem, and provides a sensing device that structure is simpler, volume is smaller and cost is lower.

[0004] To solve above-mentioned problem, the utility model provides a sensing device, it is characterized in that, it includes:

[0005] Magnet;

[0006] Flexible support structure is used to carry the magnet, and can receive the force action of outside and be deformed to make the magnet produce displacement change;

[0007] Hard support structure is used to carry the flexible support structure;

[0008] Magnetic induction sensor is fixedly arranged relative to the hard support structure;

[0009] The magnetic induction sensor can produce detection signal according to the change of relative position of the magnet and the magnetic induction sensor when the flexible support structure is deformed under force, to realize multidimensional force measurement.

[0010] Further, the flexible support structure includes a force receiving body and a support seat arranged in opposition, a receiving cavity is formed between the force receiving body and the support seat, and the magnet is arranged in the receiving cavity; the force receiving body and the support seat are made of flexible deformable material.

[0011] Further, the magnet is enclosed in the flexible support structure and fixed relative to the flexible support structure.

[0012] Further, a receiving slot is arranged at one end of the support base facing the force receiving body, and the magnet is fixedly arranged in the receiving slot and covered by the force receiving body.

[0013] Further, the force receiving body is provided with a curved force receiving surface, and a central axis of the force receiving surface coincides with a central axis of the magnet.

[0014] Further, the hard support structure is provided with an engaging slot, and the flexible support structure is at least partially engaged with and fixed to the hard support structure in a form-fitting manner.

[0015] Further, a first positioning part is arranged on the hard support structure and located at a periphery of the engaging slot, a second positioning part is arranged on the force receiving body and matches the first positioning part in position and shape, one end of the support base is form-fitted in the engaging slot, the other end of the support base protrudes from the hard support structure, and the force receiving body covers the support base and is connected to the hard support structure in a matching manner through the first positioning part and the second positioning part.

[0016] Further, one end of the support base is form-fitted in the engaging slot, the other end of the support base protrudes from the hard support structure, and the force receiving body covers the support base and surrounds the support base and the hard support structure.

[0017] Further, the magnetic induction sensor is arranged on and electrically connected to a PCBA board, and the PCBA board is fixedly arranged on a side of the hard support structure opposite to the flexible support structure.

[0018] Further, a mounting slot is arranged on a side of the hard support structure opposite to the engaging slot, the mounting slot is through or isolated from the engaging slot, the PCBA board is fixedly arranged at an opening of the mounting slot, and the magnetic induction sensor is located in the mounting slot.

[0019] Further, a third positioning part is arranged on the hard support structure, and a fourth positioning part is arranged on the PCBA board, and the third positioning part and the fourth positioning part are matched.

[0020] The significant contribution of this invention lies in its effective solution to the aforementioned problems. The sensing device of this invention includes a magnet, a flexible support structure, a rigid support structure, and a magnetic induction sensor. The flexible support structure supports the magnet and receives external forces. The magnet deforms under force, causing displacement. Pressure is detected by utilizing the electromagnetic changes generated by the relative positional changes between the magnet and the magnetic induction sensor. This pressure detection utilizes electromagnetic principles, resulting in a simple and reliable structure that significantly reduces size. Furthermore, it can sense the direction of force, thus enabling multi-directional force detection with a single sensing device, greatly expanding its application range. The sensing device of this invention is characterized by its simple structure, small size, low cost, and wide applicability, making it highly practical and worthy of widespread promotion. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of Example 1.

[0022] Figure 2 This is a partially exploded schematic diagram of Example 1.

[0023] Figure 3 This is a structural exploded view of Example 1.

[0024] Figure 4 This is a half-sectional schematic diagram of Example 1.

[0025] Figure 5 This is a structural exploded view of the flexible support structure.

[0026] Figure 6 This is a schematic diagram of the overall structure of Example 2.

[0027] Figure 7 This is a structural exploded view of Example 2.

[0028] Figure 8 This is a structural exploded view of Example 2.

[0029] Figure 9 This is a half-sectional schematic diagram of Example 2.

[0030] Reference numerals in the attached figures: magnet 10, flexible support structure 20, force receiver 21, force receiver surface 211, positioning groove 212, second positioning part 213, support base 22, receiving groove 221, main body part 222, support part 223, substrate part 224, hollow hole 225, rigid support structure 30, joining groove 31, first positioning part 32, mounting groove 33, third positioning part 34, magnetic induction sensor 40, PCBA board 50, fourth positioning part 51. Detailed Implementation

[0031] The following embodiments are further explanation and supplement of the utility model, and do not constitute any limitation on the utility model.

[0032] As Figures 1-9 The utility model discloses a sensing device, which comprises a magnet 10, a flexible supporting structure 20, a rigid supporting structure 30 and a magnetic induction sensor 40.

[0033] The magnet 10 is used to interact with the magnetic induction sensor 40, and when the relative positions of the two change, the magnetic induction sensor 40 can detect the change of the magnetic induction intensity, thereby causing the change of the induced voltage in the magnetic induction sensor 40.

[0034] The flexible supporting structure 20 is used to carry the magnet 10. The flexible supporting structure 20 is made of a flexible deformable material, which can be deformed when subjected to force. The flexible supporting structure 20 can receive the force of the outside world to deform and cause the magnet 10 to change in position. Since the magnet 10 is carried on the flexible supporting structure 20, when the flexible supporting structure 20 is deformed under force, the deformation of the flexible supporting structure 20 will be transmitted to the magnet 10, so that the position of the magnet 10 changes, thereby causing the displacement change of the magnet 10 relative to the magnetic induction sensor 40.

[0035] The rigid supporting structure 30 is used to carry the flexible supporting structure 20, which is used to provide support on one hand and adjust the force limit of the entire sensing device on the other hand, so that the sensing device is suitable for different detection conditions.

[0036] The magnetic induction sensor 40 is fixedly arranged relative to the rigid supporting structure 30. The position of the magnetic induction sensor 40 is fixed relative to the rigid supporting structure 30, while the magnet 10 is arranged on the flexible supporting structure 20 and can change in position with the deformation of the flexible supporting structure 20. Therefore, when the flexible supporting structure 20 is deformed under force, the relative position between the magnet 10 and the magnetic induction sensor 40 will change, so that the magnetic induction sensor 40 can generate a corresponding detection signal according to the change of the relative position between the magnet 10 and the magnetic induction sensor 40 when the flexible supporting structure 20 is deformed under force, so as to realize the measurement of multi-dimensional force.

[0037] Further, as Figures 2-9As shown, in order to better support the magnet 10, the flexible support structure 20 comprises a force receiving body 21 and a support seat 22 arranged in opposition. The force receiving body 21 and the support seat 22 are both made of flexible and deformable material, and both can be deformed by force. The material of the force receiving body 21 and the support seat 22 includes but is not limited to various soft glue, such as silicone rubber, TPR soft glue, TPE soft glue, etc. The material of the force receiving body 21 and the support seat 22 can be the same or different, and the specific material can be set as needed. The softness of the force receiving body 21 and the support seat 22 can be set according to the conditions of the detection environment, and different ranges and sensitivities of detection can be achieved by setting force receiving bodies 21 and support seats 22 with different softness. The force receiving body 21 is used to receive the force of the external environment. The force receiving body 21 and the support seat 22 form a containing cavity. The magnet 10 is arranged in the containing cavity. In this way, the magnet 10 can be arranged in the flexible support structure 20, so that when the flexible support structure 20 is deformed by force, the position of the magnet 10 can change with the displacement of the flexible support structure 20.

[0038] Further, in some embodiments, as shown in Figure 3 、 Figure 9 In order to make the magnet 10 more sensitive to the deformation of the flexible support structure, the magnet 10 is tightly wrapped in the flexible support structure 20 and fixed relative to the flexible support structure 20. When the magnet 10 is tightly wrapped in the flexible support structure 20, there is no relative displacement between the magnet 10 and the flexible support structure 20, and the magnet 10 only changes position with the deformation of the flexible support structure 20. In this way, the magnet 10 is more sensitive to external forces, thereby improving the sensitivity of the sensing device.

[0039] In addition, when the magnet 10 is tightly wrapped in the flexible support structure, the flexible support structure can provide good protection for the magnet 10, and can avoid accidental damage of the magnet 10 exposed to the outside, especially can avoid the phenomenon of magnet 10 falling off and accidental displacement during long-term use, thereby ensuring the reliability of the sensing device and prolonging the service life of the sensing device.

[0040] Further, as shown in Figure 3 、 Figure 7 In some embodiments, in order to wrap the magnet 10 in the flexible support structure, a containing groove 221 is arranged at one end of the support seat 22 facing the force receiving body 21. The shape and size of the containing groove 221 match the magnet 10. The magnet 10 is fixedly embedded in the containing groove 221 and covered by the force receiving body 21.

[0041] When the magnet 10 is fixedly embedded in the receiving groove 221, it can be fixed in the receiving groove 221 by a tight fit, or it can be fixed in the receiving groove 221 by adhesives such as glue. Preferably, the magnet 10 is fixed in the receiving groove 221 by a tight fit. Since the support base 22 is made of a flexible deformable material, when the size of the receiving groove 221 is slightly smaller than the size of the magnet 10, the magnet 10 can be fixed in the receiving groove 221 by a tight fit without shaking. Setting the magnet 10 in this way not only facilitates processing and assembly, but also does not affect the deformation capability of the flexible support structure 20.

[0042] The shapes of the magnet 10 and the receiving groove 221 can be configured as needed. In this embodiment, preferably, the magnet 10 is a circular block magnet with its magnetic poles arranged at both ends along its axial direction. Correspondingly, the receiving groove 221 is a circular groove.

[0043] Furthermore, to improve the sensitivity of the sensing device, in some embodiments, the force receiver 21 is provided with a curved force-receiving surface 211. Preferably, the force-receiving surface 211 can be configured as a spherical surface, which is part of a sphere. The force-receiving surface 211 is located at the end of the force receiver 21 opposite to the rigid support structure 30, and it arches away from the magnet 10. The force-receiving surface 211 is used to sense external forces that cause the flexible support structure 20 to deform. The central axis of the force-receiving surface 211 coincides with the central axis of the magnet 10. In this way, the force-receiving surface 211 can receive external forces from all directions, and can ensure that the flexible support structure 20 is subjected to uniform force, thereby ensuring the detection sensitivity and accuracy of the sensing device.

[0044] Furthermore, in some embodiments, the projected area of ​​the force-receiving surface 211 on the plane where the magnet 10 is located should be larger than the area of ​​the magnet 10. This ensures that the force-receiving surface 211 can receive external forces over a wide range, causing the magnet 10 to change position, thereby improving detection sensitivity.

[0045] Furthermore, such as Figure 5 As shown, in some embodiments, to make the engagement between the force receiver 21 and the support 22 more reliable, a positioning groove 212 is provided on the side of the force receiver 21 facing the support 22. The shape of the positioning groove 212 matches the end shape of the support 22. The end of the support 22 can fit into the positioning groove 212 in a shape-fitting manner. This can limit the relative rotation between the two, thereby making their engagement more reliable and ensuring that the external force received by the force receiver 21 can be effectively transmitted to the support 22, thereby ensuring the effective deformation of the flexible support structure 20.

[0046] In some embodiments, as shown in Figures 2-5 The support base 22 includes a middle body part 222 and symmetrically arranged support parts 223. The number of support parts 223 can be set as required, and preferably, four support parts 223 are arranged. The body part 222 is connected between one end of the support parts 223 and flush with the end of the support parts 223. The other ends of the support parts 223 are spaced apart from each other. The receiving groove 221 is arranged on the end surface of the body part 222. The magnet 10 is arranged in the receiving groove 221 of the body part 222. The positioning groove 212 on the force receiving body 21 is matched with the shape of the end of the body part 222 and the support part 223, so that the body part 222 and the support part 223 of a certain depth are engaged in the positioning groove 212.

[0047] In some embodiments, as shown in Figure 7 , Figure 8 The support base 22 includes a middle body part 222, symmetrically arranged support parts 223 and a base plate part 224. The body part 222 is in a columnar shape and is connected between one end of the support parts 223. The base plate part 224 is in a flat plate shape and is connected to the other end of the support parts 223 opposite to the body part 222. The base plate part 224 is spaced apart from the support parts 223, and a hollow hole 225 is formed between the base plate part 224, the support parts 223 and the body part 222. Further, the body part 222 is in a cylindrical shape, and the base plate part 224 is in a square plate shape. The receiving groove 221 is arranged on the end surface of the body part 222, and the magnet 10 is arranged in the receiving groove 221 of the body part 222. The positioning groove 212 on the force receiving body 21 is matched with the shape of the end of the body part 222 and the support part 223, so that the body part 222 and the support part 223 of a certain depth are engaged in the positioning groove 212.

[0048] The force receiving body 21 and the support base 22 can be connected only by shape matching, or can be further fixed by gluing or the like. Since the support base 22 is located between the force receiving body 21 and the hard support structure 30, even if the force receiving body 21 and the support base 22 are connected only by shape matching, the connection reliability between the force receiving body 21 and the support base 22 can be ensured, and both can be deformed under force. Of course, to further ensure the connection reliability, the force receiving body 21 and the support base 22 can be further bonded together.

[0049] Further, in some embodiments, as shown in Figures 2-9To make the structure more reliable and as small as possible, the hard support structure 30 is provided with a joint groove 31. The flexible support structure 20 is at least partially engaged with the hard support structure 30 in a form-fitting manner and is fixed.

[0050] In some embodiments, as shown in Figure 7 、 Figure 8 、 Figure 9 The shape of the joint groove 31 matches the shape of the base plate part 224 of the support seat 22, for example, the base plate part 224 is a square plate, and the joint groove 31 is a rectangular groove. The base plate part 224 of the support seat 22 is embedded in the joint groove 31 to form a shape fit. Further, when the support seat 22 is engaged in the joint groove 31 of the hard support structure 30, the support seat 22 and the joint groove 31 can also be fixed by gluing to further strengthen the stability of the structure.

[0051] In some embodiments, as shown in Figures 2-4 The shape of the joint groove 31 matches the shape of the end of the support part 223 of the support seat 22, for example, when the four ends of the support part 223 are spaced apart from each other, the joint groove 31 can receive the four ends of the support part 223 to form a shape fit. Further, the end of the support part 223 can be provided with a concave-convex structure, and correspondingly, the joint groove 31 can be provided with an opposite concave-convex structure. In this way, the end of the support part 223 and the joint groove 31 are engaged in a shape by the concave-convex structure. In specific implementation, the support seat 22 and the hard support structure 30 can be directly in-mold injection molded, which improves production efficiency and can improve connection stability.

[0052] The hard support structure 30 and the flexible support structure 20 are engaged by the joint groove 31 in a form-fitting manner, which can avoid the direct displacement of the flexible support structure 20 relative to the hard support structure 30, improve the connection stability, and accommodate the flexible support structure 20 in the hard support structure 30 to reduce the structure height and reduce the overall size of the sensing device.

[0053] The joint groove 31 can be a through-hole or a non-through-hole.

[0054] Further, in some embodiments, as shown in Figure 6 、 Figure 7 、 Figure 8 、 Figure 9As shown, a first positioning part 32 is provided on the rigid support structure 30, and the first positioning part 32 is disposed around the engagement groove 31. Correspondingly, a second positioning part 213 is provided on the force receiver 21, the position and shape of which match the first positioning part 32. The first positioning part 32 and the second positioning part 213 are matched with each other, and both are one of a protrusion and a groove structure. For example, the first positioning part 32 can be a protrusion structure, and the second positioning part 213 can be a groove structure. Or, the first positioning part 32 can be a groove structure, and the second positioning part 213 can be a protrusion structure. When one end of the support seat 22 fits into the engagement groove 31 and the other end of the support seat 22 protrudes into the rigid support structure 30, the force receiver 21 covers the support seat 22 and is engaged and connected with the rigid support structure 30 through the mutual cooperation of the first positioning part 32 and the second positioning part 213. Furthermore, when the force receiver 21 is connected to the rigid support structure 30, the joint parts can be fixed by adhesive to further improve the connection stability.

[0055] By providing a first positioning part 32 and a second positioning part 213 on the rigid support structure 30 and the force receiver 21 for cooperation, it is not only convenient for positioning and installation, but also enhances the force-bearing capacity and avoids relative misalignment / displacement between the flexible support structure 20 and the rigid support structure 30 when subjected to force.

[0056] In some embodiments, such as Figures 2-5 As shown, when one end of the support base 22 is shaped to fit into the mating groove 31, the other end of the support base 22 protrudes from the rigid support structure 30. The force receiver 21 covers the support base 22 and surrounds the support base 22 and the rigid support structure 30 within it. Further, as... Figure 4 As shown, when the rigid support structure 30 is enclosed within the force receiver 21, the outer wall of the rigid support structure 30 fits snugly against the interior of the force receiver 21. Because the force receiver 21 is flexible and deformable, it can tightly enclose the rigid support structure 30. Alternatively, the force receiver 21 can be glued to the rigid support structure 30 to prevent detachment. In this embodiment, the force receiver 21 completely covers the rigid support structure 30 and the support base 22, providing a complete enclosure of the bottom structure and resulting in a more stable fit. In actual testing, this structure can withstand at least 3.5 million presses, thus significantly improving structural stability and extending the lifespan of the sensing device. Furthermore, this structural design reduces the overall thickness of the sensing device; in this embodiment, the overall thickness can be reduced to 5.9 mm.

[0057] Further, the magnetic induction sensor 40 is arranged on the PCBA board 50 and electrically connected with the PCBA board 50. As shown in Figures 2-9 The PCBA board 50 is fixedly arranged on the side of the rigid support structure 30 opposite to the flexible support structure 20. In other words, the PCBA board 50 and the flexible support structure 20 are arranged on the two sides of the rigid support structure 30 respectively. The rigid support structure 30 is used not only for bearing the flexible support structure 20, but also for bearing the PCBA board 50. The rigid support structure 30 is arranged between the PCBA board 50 and the flexible support structure 20, and can be used to adjust the overall stress limit of the sensor device by selecting different materials, such as plastic, metal, etc., so that the sensor device can be applied to different pressure environments, and the PCBA board 50 can be protected.

[0058] Further, the PCBA board 50 can be provided with a storage unit, which can directly store calibration fitting parameters and other data, so as to improve the adaptability of the sensor device.

[0059] In order to facilitate the fixation of the PCBA board 50 on the rigid support structure 30, a mounting groove 33 is arranged on the side of the rigid support structure 30 opposite to the engagement groove 31. The shape and size of the mounting groove 33 can be set as needed. As a preferred embodiment, the mounting groove 33 can be a rectangular groove. In some embodiments, the mounting groove 33 is through with the engagement groove 31. In some embodiments, the mounting groove 33 is isolated from the engagement groove 31. The PCBA board 50 is fixedly arranged at the opening of the mounting groove 33, and the magnetic induction sensor 40 is located in the mounting groove 33.

[0060] Further, in order to facilitate the positioning and installation of the PCBA board 50 and the rigid support structure 30, a third positioning part 34 is arranged on the rigid support structure 30, and a fourth positioning part 51 is arranged on the PCBA board 50. The third positioning part 34 cooperates with the fourth positioning part 51. The third positioning part 34 and the fourth positioning part 51 are one of a protrusion and a groove structure. For example, the third positioning part 34 can be a protrusion structure, and the fourth positioning part 51 can be a groove structure. For another example, the third positioning part 34 can be a groove structure, and the fourth positioning part 51 can be a protrusion structure. The third positioning part 34 and the fourth positioning part 51 can be arranged along the direction parallel to the line connecting the magnet 10 and the magnetic induction sensor 40, or can be arranged along the direction perpendicular to the line connecting the magnet 10 and the magnetic induction sensor 40.

[0061] When the PCBA board 50 and the rigid support structure 30 are fixedly connected together, the whole can be enclosed outside the force receiver 21, or can be exposed outside the force receiver 21.

[0062] For more detailed introduction, different embodiments are described as follows:

[0063] Embodiment 1

[0064] As shown in the drawings, the sensing device of the present embodiment comprises a flexible supporting structure 20, a magnet 10, a hard supporting structure 30, a magnetic induction sensor 40 and a PCBA board 50. Figures 1-5

[0065] The flexible supporting structure 20 comprises a force receiving body 21 and a supporting seat 22.

[0066] The force receiving body 21 is provided with the force receiving surface 211, and is internally provided with a positioning groove 212.

[0067] The supporting seat 22 comprises a main body 222 and four supporting parts 223. The main body 222 is provided with a receiving groove 221. The main body 222 is connected between the end portions of the four supporting parts 223. The other end portions of the four supporting parts 223 are opposite to each other, and are provided with concave-convex structures on the end portions.

[0068] The hard supporting structure 30 is provided with an engaging groove 31, which is matched with the shape of the end portion of the supporting part 223, and the shapes of the two are engaged together. In the specific implementation, the hard supporting structure 30 is in-mold injection molded with the supporting seat 22, which improves the production efficiency and the connection stability.

[0069] The side of the hard supporting structure 30 opposite to the engaging groove 31 is provided with a mounting groove 33, and a third positioning part 34 in the form of a columnar protruding structure is symmetrically arranged on the periphery of the mounting groove 33.

[0070] The PCBA board 50 is symmetrically provided with a fourth positioning part 51 in the form of a semicircular groove structure. The PCBA board 50 is fitted to the opening of the mounting groove 33 of the hard supporting structure 30, and the third positioning part 34 and the fourth positioning part 51 are fitted together. The magnetic induction sensor 40 is arranged on the PCBA board 50 and located in the mounting groove 33 between the PCBA board 50 and the hard supporting structure 30.

[0071] The force receiving body 21 is fitted on the supporting seat 22, the hard supporting structure 30 and the PCBA board 50, and surrounds the supporting seat 22, the hard supporting structure 30 and the PCBA board 50. The inner portion of the force receiving body 21 is fitted with the outer wall of the supporting seat 22, the hard supporting structure 30 and the PCBA board 50, and is bonded by glue.

[0072] The magnet 10 is arranged in the receiving groove 221 and is sealed between the supporting seat 22 and the force receiving body 21. The magnet 10 is in the form of a circle, and the central axis thereof coincides with the central axis of the force receiving surface 211 and the central axis of the magnetic induction sensor 40.

[0073] ​The structure of the embodiment can reduce the overall thickness of the sensing device, which can reach 5.9 mm, and can withstand at least 3.5 million presses in laboratory tests. Therefore, it has the characteristics of small structure volume and reliable structure.

[0074] Embodiment 2

[0075] As shown in the drawings, the sensing device of the embodiment includes a flexible support structure 20, a magnet 10, a hard support structure 30, a magnetic induction sensor 40, and a PCBA board 50. Figures 6-9

[0076] The flexible support structure 20 includes a force receiving body 21 and a support seat 22.

[0077] The force receiving body 21 is provided with the force receiving surface 211, and the inner side is provided with a positioning groove 212.

[0078] The support seat 22 includes a main body part 222, four support parts 223, and a base plate part 224. The main body part 222 is provided with a receiving groove 221. The main body part 222 is cylindrical, connected between the end portions of the four support parts 223, and the base plate part 224 is rectangular block-shaped, connected to the other end of the support part 223 and spaced a certain distance from the main body part 222, and a hollow hole 225 is formed between the main body part 222, the support part 223, and the base plate part 224.

[0079] The hard support structure 30 is provided with a rectangular engagement groove 31, which is matched in shape and size with the base plate part 224. The hard support structure 30 and the base plate part 224 are engaged together in shape and bonded together by glue, and the support seat 22 protrudes from the hard support structure 30.

[0080] The hard support structure 30 is provided with a first positioning part 32 of protruding structure, and the force receiving body 21 is provided with a second positioning part 213 of groove structure. The force receiving body 21 is overlaid on the support seat 22 and connected together with the hard support structure 30. The force receiving body 21 and the support seat 22, and the force receiving body 21 and the hard support structure 30 are bonded together, thereby improving the structural reliability. At the same time, the hard support structure 30 and the force receiving body 21 are matched by the first positioning part 32 and the second positioning part 213, which is conducive to positioning and installation and improves the connection reliability.

[0081] The side of the hard support structure 30 opposite to the engagement groove 31 is provided with a rectangular mounting groove 33, and the inner wall of the mounting groove 33 is symmetrically provided with a third positioning part 34 protruding inwardly in a protruding structure.

[0082] ​The fourth positioning part 51 with a semicircular groove structure is symmetrically arranged on the PCBA board 50; the PCBA board 50 is closed to the opening of the mounting groove 33 of the hard supporting structure 30, the third positioning part 34 and the fourth positioning part 51 are matched together; the PCBA board 50 is fixedly connected with the hard supporting structure 30, the magnetic induction sensor 40 is arranged on the PCBA board 50 and located in the mounting groove 33 between the PCBA board 50 and the hard supporting structure 30.

[0083] The magnet 10 is arranged in the accommodating groove 221 and is sealed between the supporting seat 22 and the force receiving body 21. The magnet 10 is circular, and the central axis thereof coincides with the central axis of the force receiving surface 211 and the central axis of the magnetic induction sensor 40.

[0084] Although the utility model is disclosed through the above embodiment, the scope of the utility model is not limited thereto, and each component can be replaced by similar or equivalent elements understood by those skilled in the art without departing from the concept of the utility model.

Claims

1. A sensing device, characterized by It comprises: a magnet (10); a flexible supporting structure (20) for carrying the magnet (10) and capable of receiving external force to deform and cause displacement of the magnet (10); a rigid supporting structure (30) for carrying the flexible supporting structure (20); a magnetic induction sensor (40) fixed relative to the rigid supporting structure (30); the magnetic induction sensor (40) can generate a detection signal according to the change of the relative position between the magnet (10) and the magnetic induction sensor (40) when the flexible supporting structure (20) deforms under force, so as to realize multi-dimensional force measurement.

2. The sensing device according to claim 1, wherein: the flexible supporting structure (20) comprises a force receiving body (21) and a supporting seat (22) arranged in opposition, a receiving cavity is formed between the force receiving body (21) and the supporting seat (22), and the magnet (10) is arranged in the receiving cavity; the force receiving body (21) and the supporting seat (22) are made of flexible and deformable material.

3. The sensing device of claim 2, wherein, the magnet (10) is enclosed in the flexible supporting structure (20) and fixed relative to the flexible supporting structure (20).

4. The sensing device of claim 2, wherein, a receiving groove (221) is arranged at the end of the supporting seat (22) facing the force receiving body (21), the magnet (10) is fixedly arranged in the receiving groove (221) and covered by the force receiving body (21).

5. The sensing device of claim 4, wherein, the force receiving body (21) is provided with a curved force receiving surface (211), and the central axis of the force receiving surface (211) coincides with the central axis of the magnet (10).

6. The sensing device of claim 2, wherein, the rigid supporting structure (30) is provided with an engaging groove (31), and the flexible supporting structure (20) is at least partially engaged with and fixed to the rigid supporting structure (30) in a form-fitting manner.

7. The sensing device according to claim 6, wherein: a first positioning part (32) is arranged on the rigid supporting structure (30), and the first positioning part (32) is arranged at the periphery of the engaging groove (31); a second positioning part (213) is arranged on the force receiving body (21) and matches the first positioning part (32) in position and shape; one end of the supporting seat (22) is fitted into the engaging groove (31) in a form-fitting manner, and the other end protrudes from the rigid supporting structure (30), the force receiving body (21) covers the supporting seat (22) and is connected to the rigid supporting structure (30) in an opposite manner through the mutual cooperation of the first positioning part (32) and the second positioning part (213).

8. The sensing device according to claim 6, wherein: one end of the supporting seat (22) is fitted into the engaging groove (31) in a form-fitting manner, and the other end protrudes from the rigid supporting structure (30), the force receiving body (21) covers the supporting seat (22) and surrounds the supporting seat (22) and the rigid supporting structure (30) inside.

9. The sensing device of claim 6, wherein, The magnetic induction sensor (40) is arranged on the PCBA board (50) and is electrically connected with the PCBA board (50), and the PCBA board (50) is fixedly arranged on the side of the hard supporting structure (30) opposite to the flexible supporting structure (20).

10. The sensing device of claim 9, wherein, An installation groove (33) is arranged on the side of the hard supporting structure (30) opposite to the engaging groove (31), the installation groove (33) is through or isolated from the engaging groove (31), the PCBA board (50) is fixedly arranged at the opening of the installation groove (33), and the magnetic induction sensor (40) is located in the installation groove (33).

11. The sensing device of claim 10, wherein, A third positioning part (34) is arranged on the hard supporting structure (30), a fourth positioning part (51) is arranged on the PCBA board (50), and the third positioning part (34) cooperates with the fourth positioning part (51).

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