Three-dimensional force sensor and foot structure

Abstract

The embodiment of the utility model discloses a three-dimensional force sensor and a foot structure. The three-dimensional force sensor comprises a bottom plate, a plurality of force sensors, a surrounding plate and a cover plate, the plurality of force sensors are fixed on the bottom plate, and the force sensors are one-dimensional force sensors; the surrounding plate is connected to the peripheral side of the bottom plate in a surrounding mode, the surrounding plate and the bottom plate form a cavity with the top being open, and the force sensors are located in the cavity. The cover plate covers the opening and is fixedly connected with the plurality of force sensors. According to the three-dimensional force sensor, multi-dimensional measurement can be achieved through the multiple one-dimensional force sensors, the structure and the manufacturing process are simplified, and the assembling flexibility is high.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a three-dimensional force sensor and a foot structure. Background Technology

[0002] Multidimensional force detection devices can detect force or torque information in multiple directions within space, and are therefore widely used in fields such as aviation, mechanical assembly, and manufacturing.

[0003] Currently, multidimensional force detection devices in related technologies typically achieve multidimensional force detection by attaching multiple strain gauges to an elastomer, such as a six-dimensional force sensor. However, six-dimensional force sensor systems are complex and expensive, hindering widespread adoption. Furthermore, each strain gauge requires precise positioning and attachment, currently only achievable manually, which is cumbersome and introduces errors. Utility Model Content

[0004] This application provides a three-dimensional force sensor and a foot structure, aiming to solve the problems that the current multi-dimensional force detection devices have complex structures and processes, and require manual installation, which is cumbersome to operate.

[0005] In a first aspect, embodiments of this application provide a three-dimensional force sensor, which includes a base plate, multiple force sensors, a surrounding plate, and a cover plate; the multiple force sensors are fixed on the base plate, and the force sensors are one-dimensional force sensors; the surrounding plate surrounds and is connected to the periphery of the base plate and forms a cavity with an open top with the base plate, and the multiple force sensors are located in the cavity; the cover plate covers the open top and is fixedly connected to the multiple force sensors.

[0006] In the above-described technical solution, the three-dimensional force sensor provided in this application can achieve multi-dimensional measurement through multiple arranged and combined one-dimensional force sensors. This eliminates the need for complex decoupling of output signals from multiple strain gauges, as is done in traditional three-dimensional measurements. Thus, while ensuring measurement accuracy, the structure and manufacturing process are simplified, and assembly flexibility is high. Furthermore, compared to related technologies that require manual installation of patches, the three-dimensional force sensor provided in this application can achieve automated assembly, simplifying the operation.

[0007] In conjunction with the first aspect, in some possible implementations, multiple force sensors are evenly distributed on the base plate with the geometric center of the base plate as the center of symmetry.

[0008] In conjunction with the first aspect, in some possible implementations, the number of force sensors is greater than or equal to three.

[0009] In conjunction with the first aspect, in some possible implementations, a first gap is formed between the inner wall of the enclosure and the outer periphery of the cover plate; the three-dimensional force sensor also includes a first seal that fills the first gap.

[0010] In the above technical solution, the first sealing element fills the second gap between the enclosure plate and the cover plate to prevent external moisture from entering the interior of the three-dimensional force sensor through the gap between the cover plate and the enclosure plate. This prevents the force sensor and other devices inside the three-dimensional force sensor from getting damp or short-circuiting. It also prevents dust, sand and other particles from entering the interior of the three-dimensional force sensor through the gap between the cover plate and the enclosure plate and causing contamination or damage to the force sensor. In other words, the first sealing element can play a role in waterproofing and dustproofing, improving the reliability of the force sensor inside the three-dimensional force sensor.

[0011] In conjunction with the first aspect, in some possible implementations, the peripheral recess of the base plate forms a step, the step including a first step surface, a connecting surface and a second step surface, the connecting surface being used to connect the first step surface and the second step surface, and a second gap being formed between the surrounding plate and the second step surface; the three-dimensional force sensor also includes a second seal, the second seal being filled in the second gap.

[0012] In the above technical solution, the second seal fills the second gap between the enclosure plate and the second step surface to prevent external moisture from entering the interior of the three-dimensional force sensor through the gap between the base plate and the enclosure plate. This prevents the force sensor and other components inside the three-dimensional force sensor from getting damp or short-circuiting. It also prevents dust, sand, and other particles from entering the interior of the three-dimensional force sensor through the gap between the base plate and the enclosure plate, avoiding contamination or damage to the force sensor. In other words, the second seal provides waterproof and dustproof protection, improving the reliability of the force sensor inside the three-dimensional force sensor. Furthermore, the second seal also improves the stability of the connection between the base plate and the enclosure plate.

[0013] In conjunction with the first aspect, in some possible implementations, the inner wall of the enclosure is provided with annular ribs, which abut against the first step surface.

[0014] In the above technical solution, the annular ribs can evenly distribute the external force acting on the enclosure plate to the base plate, reducing local stress concentration and thus extending the service life of the enclosure plate. Furthermore, during assembly, the annular ribs can act as a positioning and guiding element, making it easier to align and install the enclosure plate with the base plate, thereby simplifying the assembly process. The tight contact between the annular ribs on the inner wall of the enclosure plate and the base plate also serves as a seal, further improving the overall sealing effect of the three-dimensional force sensor.

[0015] In conjunction with the first aspect, in some possible implementations, a groove is recessed on the side of the cover plate opposite to the base plate, and the groove is configured to be coaxial with the external connector.

[0016] In the above technical solution, when the three-dimensional force sensor is connected to the external connector, a coaxial connection can be achieved through a groove, thereby minimizing measurement errors caused by mechanical offset or misalignment and improving the measurement accuracy of the three-dimensional force sensor provided in this application. Furthermore, the coaxial connection allows for a more uniform distribution of force acting on the three-dimensional force sensor, avoiding nonlinear errors caused by uneven force distribution, thus further improving the measurement accuracy of the three-dimensional force sensor. Secondly, the coaxial connection between the three-dimensional force sensor and the external connector reduces mechanical stress and wear, thereby increasing the service life of both the three-dimensional force sensor and the external connector, and reducing maintenance and replacement costs.

[0017] In conjunction with the first aspect, in some possible implementations, a first through hole is provided on the base plate; the three-dimensional force sensor also includes a sealing sleeve, which passes through the first through hole and is fitted against the side of the base plate opposite to the force sensor, and the wiring of multiple force sensors passes through the sealing sleeve.

[0018] In the above technical solution, only one first through hole is needed to meet the wiring requirements of multiple force sensors, reducing the number of openings on the base plate, simplifying the overall design of the base plate, reducing processing complexity and manufacturing costs, and the unified wiring facilitates assembly, reducing assembly time and difficulty. The sealing sleeve can effectively prevent external moisture from entering the interior of the three-dimensional force sensor, thereby preventing the force sensor and other components inside the three-dimensional force sensor from getting damp or short-circuited. It can also prevent dust, sand and other particles from entering the interior of the three-dimensional force sensor, avoiding contamination or damage to the force sensor. In other words, the sealing sleeve can play a role in waterproofing and dustproofing, thereby improving the reliability of the force sensor inside the three-dimensional force sensor. Secondly, the sealing sleeve can also provide additional mechanical support and protection for the wiring at the first through hole, preventing the wiring from breaking or loosening due to external pulling, thereby improving the reliability of the wiring. The sealing sleeve can also buffer external vibration, thereby reducing the impact of external vibration on the wiring and force sensor, and improving the overall stability of the three-dimensional force sensor.

[0019] In conjunction with the first aspect, in some possible implementations, each force sensor includes a sensor body and a resistor; the sensor body is fixedly connected to the base plate and the cover plate; the resistor is fixed within the sensor body.

[0020] In the above technical solution, the resistor inside the sensor body is a temperature-sensitive resistor. This resistor can monitor changes in ambient temperature in real time, and its resistance value changes with temperature. When the temperature changes, the force sensor can automatically adjust its output signal based on the feedback from the resistor to achieve hardware compensation and thus offset errors caused by temperature, ensuring the reliability of the force sensor's output. Therefore, by setting a resistor inside the sensor body, the phenomenon of unstable output caused by temperature drift in the force sensor can be effectively improved, thereby enhancing the output reliability of the force sensor. Secondly, each force sensor contains a resistor, meaning each force sensor can independently achieve temperature compensation, eliminating the need for a temperature compensation device after assembly and simplifying the manufacturing process.

[0021] Secondly, embodiments of this application provide a foot structure, including a housing and a three-dimensional force sensor as described in any of the optional embodiments of the first aspect, wherein the three-dimensional force sensor is connected to the housing. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the frame structure of a foot structure provided in an embodiment of this application;

[0024] Figure 2 This is an exploded structural diagram of a three-dimensional force sensor provided in an embodiment of this application;

[0025] Figure 3 This is a cross-sectional structural diagram of a three-dimensional force sensor provided in an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of the structure of a force sensor provided in an embodiment of this application;

[0027] Figure 5 This is a line graph showing the output of a three-dimensional force sensor provided in an embodiment of this application;

[0028] Figure 6 This is a line graph showing the output of another three-dimensional force sensor provided in this application embodiment;

[0029] Figure 7 This is another output line graph of a three-dimensional force sensor provided in the embodiments of this application;

[0030] Figure 8This is a partial structural schematic diagram of a three-dimensional force sensor provided in an embodiment of this application;

[0031] Figure 9 This is a top view schematic diagram of a three-dimensional force sensor provided in an embodiment of this application;

[0032] Figure 10 This is a top view schematic diagram of another three-dimensional force sensor provided in an embodiment of this application;

[0033] Figure 11 This is a top view of another three-dimensional force sensor provided in the embodiments of this application;

[0034] Figure 12 This is an exploded structural diagram of another three-dimensional force sensor provided in an embodiment of this application;

[0035] Figure 13 This is a schematic diagram of the structure of a three-dimensional force sensor provided in an embodiment of this application;

[0036] Figure 14 This is a schematic diagram of the structure of a force sensor provided in an embodiment of this application;

[0037] Figure 15 This is a cross-sectional structural schematic diagram of another three-dimensional force sensor provided in an embodiment of this application;

[0038] Figure 16 This is an exploded structural diagram of another three-dimensional force sensor provided in the embodiments of this application;

[0039] Figure 17 This is an exploded structural diagram of another three-dimensional force sensor provided in an embodiment of this application;

[0040] Figure 18 This is a schematic diagram of another three-dimensional force sensor provided in an embodiment of this application.

[0041] Figure label:

[0042] 1. Three-dimensional force sensor; 11. Base plate; 11A. First step surface; 11B. Connecting surface; 11C. Second step surface; 11D. First through hole; 11E. Second through hole; 11F. Second mounting hole; 12. Force sensor; 12A. First mounting hole; 12B. Third mounting hole; 121. Sensor body; 122. Resistor; 13. Enclosure plate; 14. Cover plate; 14A. Groove; 14B. Third through hole; 14C. Fourth mounting hole; 15. First seal; 16. Second seal; 17. Sealing sleeve; 18. First fastener; 19. Second fastener; 2. Housing. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0044] Where the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended embodiments.

[0045] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0047] Multi-dimensional force detection devices can detect force or torque information in multiple directions in space, and are therefore widely used in various fields such as robotics, medical equipment, automated production lines, the automotive industry, virtual reality (VR), and augmented reality (AR). For example, by adding a multi-dimensional force detection device to a robot, the robot can adapt to the environment and perform operations, replacing manual labor in some high-precision assembly operations and other hazardous situations.

[0048] Currently, multi-dimensional force detection devices for robots in related technologies typically require attaching multiple strain gauges to an elastic body, such as a six-dimensional force sensor. A six-dimensional force sensor requires attaching 6-8 sets of strain gauges to multiple beams or columns, corresponding to forces and moments along the X, Y, and Z axes respectively. However, the six-dimensional force sensor system is complex and expensive, hindering its widespread adoption. Each strain gauge requires precise positioning and attachment, currently only achievable manually, which is cumbersome and introduces errors. The output signals from strain gauges in different directions exhibit cross-coupling, requiring complex decoupling algorithms. Furthermore, differences in the thermal expansion coefficients of adhesives and materials can cause measurement drift.

[0049] Therefore, this application provides a three-dimensional force sensor and a foot structure. This three-dimensional force sensor can achieve multi-dimensional measurement through multiple one-dimensional force sensors, simplifying the structure and manufacturing process, and offering high assembly flexibility. The three-dimensional force sensor and foot structure provided in this application will be described exemplarily below with reference to the accompanying drawings.

[0050] like Figure 1 As shown in the embodiment of this application, the foot structure includes a three-dimensional force sensor 1 and a housing 2. The three-dimensional force sensor 1 is connected to the housing 2. The three-dimensional force sensor 1 is capable of multi-dimensional measurement. It is worth noting that the three-dimensional force sensor 1 provided in this application can be installed inside the housing 2 at any position that can achieve multi-dimensional measurement. This application does not impose any specific restrictions on this.

[0051] In one example, please refer to Figures 2 to 3 As shown, the three-dimensional force sensor 1 provided in this application includes a base plate 11, multiple force sensors 12, a surrounding plate 13, and a cover plate 14. The multiple force sensors 12 are fixed on the base plate 11. The surrounding plate 13 surrounds and connects to the periphery of the base plate 11 and forms a cavity 1A with an open top with the base plate 11. The multiple force sensors 12 are located inside the cavity 1A. The cover plate 14 covers the open opening and is fixedly connected to the multiple force sensors 12. That is, at this time, the cavity 1A formed by the base plate 11, the surrounding plate 13, and the cover plate 14 is a closed cavity, so as to realize the storage and protection of the multiple force sensors 12.

[0052] Multiple force sensors 12 are fixedly connected to the base plate 11 and the cover plate 14, respectively, so that the multiple force sensors 12 can receive forces from the base plate 11 or the cover plate 14 to achieve force measurement. The multiple force sensors 12 provided in this application are one-dimensional force sensors, which can measure forces in one direction. This application can achieve multi-dimensional measurement by arranging and combining multiple one-dimensional force sensors, that is, this application can measure force or torque information in multiple directions by using multiple one-dimensional force sensors.

[0053] In one embodiment, the multiple one-dimensional force sensors provided in this application can measure linear force Fz (i.e., force along the Z direction), torque Mx (torque about the X direction), and My (torque about the Y direction). Specifically, the three-dimensional force sensor 1 includes, as shown in the example... Figure 4Taking the four force sensors 12 shown as an example, firstly, the output voltages of the four force sensors 12 are calibrated as U1, U2, U3, and U4, respectively. Then, reference forces (torques) are sequentially applied to the three dimensions Fz, Mx, and My of the four force sensors 12, and linear fitting is performed to determine the linear relationship between the output signals U5, U6, and U7 and the reference forces Fz, Mx, and My, forming a set of three linear equations. The output signals U5, U6, and U7 are calculated by combining three of U1, U2, U3, and U4. For example, U5 is determined based on U1, U2, and U3; U6 is determined based on U1, U2, and U4; and U7 is determined based on U2, U3, and U4. Next, the three-dimensional force sensor 1 is measured, and the values ​​of Fz, Mx, and My are calculated by solving the set of three linear equations based on the real-time detected output signals U5, U6, and U7.

[0054] The three-dimensional force sensor 1 provided in this application can measure the forces acting on the base plate 11 and the cover plate 14 through multiple force sensors 12. Furthermore, it can achieve multi-dimensional measurement through multiple arranged one-dimensional force sensors, eliminating the need for complex decoupling of output signals from multiple strain gauges as in traditional three-dimensional measurements. This simplifies the structure and process while ensuring measurement accuracy, and provides greater assembly flexibility. Secondly, compared to related technologies that require manual installation of patches, the three-dimensional force sensor provided in this application allows for automated assembly, simplifying the operation.

[0055] The ranges of Mx, My, and Fz in the three-dimensional force sensor 1 provided in this application embodiment can be as follows: Figures 5 to 7 As shown, the operating temperature range of the three-dimensional force sensor 1 is -35℃ to 65℃. The average nonlinear error of the three-dimensional force sensor 1 is 0.52%FS, meaning that the maximum deviation between the output of the three-dimensional force sensor 1 and the ideal straight line accounts for 0.52% of the full-scale (FS) output. The average hysteresis error of the three-dimensional force sensor 1 is 0.51%FS, and the average crosstalk error is 1.4%FS. The three-dimensional force sensor 1 provided in this application embodiment has strong overload resistance, high resolution, and long service life. The high overload resistance reduces the frequency of failures caused by overload, thus reducing the maintenance requirements of the three-dimensional force sensor 1. The high resolution enables the three-dimensional force sensor 1 to detect smaller force changes, thereby providing more accurate measurement results and achieving high-precision sensing.

[0056] It can be understood that "peripheral" refers to the surrounding area of ​​the edge of the base plate 11. When the base plate 11 adopts a design such as... Figure 2 and Figure 3When the quadrilateral structure is shown, the periphery of the base plate 11 includes four sides, or has a different number of edges depending on the shape of the base plate (e.g., circular, elliptical, etc.). The surrounding plate 13 is arranged around the periphery of the base plate 11 to form a cavity 1A with an open top. The cavity 1A is used to accommodate multiple force sensors 12. The specific shape of the base plate 11 can be set according to actual needs.

[0057] To enable the multiple one-dimensional force sensors provided in this application to achieve multi-dimensional measurement, in one example, such as Figure 8 As shown, multiple force sensors 12 are evenly distributed on the base plate 11 with the geometric center of the base plate 11 as the center of symmetry. The illustration uses a three-dimensional force sensor 1 comprising four force sensors 12 as an example. The four force sensors 12 are evenly distributed on the four opposite corners of the base plate 11 with the geometric center of the base plate 11 as the center of symmetry. To avoid interference between the force sensors 12, the force sensors 12 do not directly contact each other, i.e., as shown... Figure 8 As shown, there is a certain gap between each force sensor 12 to avoid interference between them after they are deactivated, thereby ensuring the measurement reliability of each force sensor 12.

[0058] In some embodiments, the number of force sensors 12 provided in this application needs to be greater than or equal to three, and the specific number of force sensors 12 can be set according to actual needs. For example, when the three-dimensional force sensor 1 includes three force sensors 12, such as... Figure 9 As shown, the three force sensors 12 are evenly distributed on the base plate 11 with the geometric center of the base plate 11 as the center of symmetry. In this arrangement, the three force sensors 12 form an inverted triangle. When the three-dimensional force sensor 1 includes four force sensors 12, as shown... Figure 10 As shown, the four force sensors 12 are evenly distributed on the base plate 11 with the geometric center of the base plate 11 as the center of symmetry. In this arrangement, the four force sensors 12 form a square. When the three-dimensional force sensor 1 includes five force sensors 12, as shown... Figure 11 As shown, the five force sensors 12 are evenly distributed on the base plate 11 with the geometric center of the base plate 11 as the center of symmetry. At this time, the arrangement of the five force sensors 12 presents a "○" circle.

[0059] In some embodiments, in order to ensure the measurement consistency and synchronization of the multiple force sensors 12, the multiple force sensors 12 may be one-dimensional force sensors of the same model or manufactured by the same process.

[0060] To ensure the secure fixing of multiple force sensors 12 to the base plate 11, in one example, please refer to... Figure 12 and Figure 13As shown, each force sensor 12 has multiple first mounting holes 12A on the side facing the base plate 11, and multiple second through holes 11E are provided on the base plate 11 at positions corresponding to the force sensors 12. The three-dimensional force sensor 1 also includes multiple first fasteners 18, which are respectively inserted through the second through holes 11E and their corresponding first mounting holes 12A to improve the firmness of the force sensor 12 fixed on the base plate 11, thereby ensuring the reliability of force transmission. The first fasteners 18 can be bolts, screws, or other fasteners. The first fasteners 18 can provide a high-strength mechanical connection to ensure the firmness of the connection between each force sensor 12 and the base plate 11. Furthermore, the first fasteners 18 can be installed and disassembled multiple times without damaging the force sensor 12 or the base plate 11, facilitating maintenance and replacement. Secondly, during assembly, the first fasteners 18 can also limit the force sensor 12, that is, the force sensor 12 can be fixed in a fixed position on the base plate 11 by the first fasteners 18, avoiding the problem of installation deviation of the force sensor 12 affecting the measurement accuracy.

[0061] In some embodiments, the positions of the first mounting hole 12A, the second through hole 11E, and the first fastener 18 can be set according to actual needs. For example, assuming the goal is to improve connection strength, such as... Figure 12 As shown, each force sensor 12 can have four first mounting holes 12A on the side facing the base plate 11, along with four corresponding second through holes 11E and four first fasteners 18. Each first fastener 18 passes through one first mounting hole 12A and one second through hole 11E. Thus, each force sensor 12 is fixed to the base plate 11 by four first fasteners 18, resulting in a high degree of connection strength. Alternatively, the four first mounting holes 12A can be evenly arranged on one side of the force sensor 12 with the geometric center of the force sensor 12 as the center of symmetry. This symmetrical arrangement of the four first mounting holes 12A ensures that the force is evenly distributed on the force sensor 12, avoiding stress concentration at one or a few points, thereby reducing the risk of local deformation or damage to the force sensor 12. In other embodiments, two first mounting holes 12A are provided on the side of the force sensor 12 facing the base plate 11, along with two corresponding second through holes 11E and two first fasteners 18. This achieves a fixed connection while reducing manufacturing costs. The specific arrangement can be determined according to actual needs.

[0062] In some embodiments, the force sensor 12 generates heat during use. To dissipate heat, a groove is provided on the side of the force sensor 12 facing the base plate 11, so that there is a gap between the force sensor 12 and the base plate 11, thereby enabling rapid heat dissipation.

[0063] When force sensor 12 uses a one-dimensional force sensor, due to the material properties, the one-dimensional force sensor may experience temperature drift. That is, some materials in the one-dimensional force sensor will exhibit different thermal expansion or contraction behaviors when the temperature changes. If the coefficients of thermal expansion are mismatched, it will lead to changes in the internal stress of the one-dimensional force sensor, thus affecting its output. To solve the temperature drift problem, in one example, such as... Figure 14 As shown, each force sensor 12 includes a sensor body 121 and a resistor 122. The sensor body 121 is fixedly connected to the base plate 11 and the cover plate 14, and the resistor 122 is fixed inside the sensor body 121.

[0064] The resistor 122 inside the sensor body 121 is a temperature-sensitive resistor (e.g., a thermistor). Resistor 122 can monitor changes in ambient temperature in real time, and its resistance changes with temperature. When the temperature changes, the force sensor 12 can automatically adjust its output signal based on the feedback from resistor 122 to achieve hardware compensation, thereby offsetting errors caused by temperature and ensuring the output reliability of the force sensor 12. Thus, by setting a resistor 122 inside the sensor body 121, the instability of the force sensor 12's output due to temperature drift can be effectively improved, enhancing the output reliability of the force sensor 12. Each force sensor 12 contains a resistor 122, meaning each force sensor 12 can independently achieve temperature compensation, eliminating the need for a temperature compensation device after assembly and simplifying the manufacturing process.

[0065] In some embodiments, the resistor 122 can be placed at any position inside the sensor body 121 where temperature compensation can be achieved.

[0066] In one example, please refer to Figure 12 and Figure 13 The base plate 11 has multiple second mounting holes 11F pre-drilled for connection with other external connectors in the foot structure. These second mounting holes 11F are evenly distributed on the base plate 11 with the geometric center of the base plate 11 as the center of symmetry. When the three-dimensional force sensor 1 is connected to the external connector, bolts, screws, and other fasteners connect the three-dimensional force sensor 1 to the external connector through the multiple second mounting holes 11F. This allows the force on the external connector to be transmitted to the base plate 11 and then to the multiple force sensors 12 fixedly connected to the base plate 11, thereby achieving force measurement.

[0067] In some embodiments, the number of second mounting holes 11F can be set according to the range (i.e. the force range) and the strength of the fasteners. If the strength of fasteners such as screws is weak, more second mounting holes 11F and corresponding fasteners can be set to improve the connection tightness between the base plate 11 and the external connector.

[0068] To simplify wiring design, the traces of multiple force sensors 12 can share the same via, as in one example, such as... Figure 12 As shown, a first through hole 11D is provided on the base plate 11. The wiring of multiple force sensors 12 (not shown in the figure) is connected to external connectors through this first through hole 11D. In this way, only one first through hole 11D is needed to meet the wiring requirements of multiple force sensors 12, reducing the number of openings on the base plate 11, simplifying the overall design of the base plate 11, reducing processing complexity and manufacturing costs, and unifying the wiring facilitates assembly, reducing assembly time and difficulty. Secondly, the fact that the wiring of multiple force sensors 12 is concentrated through a single first through hole 11D can effectively utilize limited space, making it suitable for miniaturization.

[0069] In some embodiments, please refer to Figure 12 and Figure 13 As shown, the three-dimensional force sensor 1 also includes a sealing sleeve 17. The sealing sleeve 17 passes through the first through hole 11D and is fitted against the side of the base plate 11 opposite to the force sensor 12. The wiring of multiple force sensors 12 passes through the sealing sleeve 17. It can be understood that the sealing sleeve 17 is a sleeve structure, with the outer wall of the sleeve fitting against the inner wall of the first through hole 11D. The inner wall of the sleeve houses the wiring of multiple force sensors 12. The sealing sleeve 17 can effectively prevent external moisture (such as rainwater and humidity) from entering the interior of the three-dimensional force sensor 1 through the first through hole 11D, thereby preventing the force sensor 12 and other components from becoming damp or short-circuited. It can also prevent dust, sand, and other particles from entering the interior of the three-dimensional force sensor 1 through the first through hole 11D, thus avoiding contamination or damage to the force sensor 1. In other words, the sealing sleeve 17 provides waterproof and dustproof protection, improving the service life and reliability of the force sensor 12. Furthermore, the sealing sleeve 17 provides additional mechanical support and protection for the wiring at the first through hole 11D, preventing the wiring from breaking or loosening due to external pulling forces, thereby improving the reliability of the wiring. The sealing sleeve 17 can also buffer external vibrations, reducing the impact of external vibrations on the wiring and the force sensor 12, and improving the overall stability of the three-dimensional force sensor 1. In some embodiments, the sealing sleeve 17 can be made of rubber, silicone, or other materials that can achieve a sealing effect.

[0070] To house and protect the multiple force sensors 12, the enclosure 13 provided in this application surrounds the periphery of the base plate 11 and forms a cavity 1A with an open top with the base plate 11. The multiple force sensors 12 are located within this cavity 1A. In some embodiments, please refer to... Figure 3 and Figure 8As shown, there is a certain gap between the enclosure 13 and the multiple force sensors 12. When the enclosure 13 is subjected to external stress, since there is no physical contact between the enclosure 13 and the multiple force sensors 12, the external stress on the enclosure will not be directly transmitted to the multiple force sensors 12, reducing the measurement error caused by mechanical stress and thus improving the measurement accuracy of the force sensors 12. Secondly, the lack of contact between the enclosure 13 and the multiple force sensors 12 can also effectively isolate the influence of ambient temperature changes on the force sensors 12, maintain the measurement stability of the force sensors 12, and facilitate normal operation in environments with large temperature differences.

[0071] In some embodiments, the surrounding plate 13 is disposed circumferentially around the base plate 11, while the inner wall of the surrounding plate 13 is abutted against the side walls of the plurality of force sensors 12. Thus, the surrounding plate 13, together with the base plate 11 and the cover plate 14, not only forms a closed cavity for accommodating the plurality of force sensors 12, but also provides better mechanical support for the plurality of force sensors 12, reducing the impact of external vibrations and shocks on the force sensors 12, and improving the measurement stability and reliability of the force sensors 12. The positional relationship between the surrounding plate 13 and the plurality of force sensors 12 can be set according to actual needs.

[0072] To improve the sealing effect between the base plate 11 and the surrounding plate 13, and further enhance the overall sealing effect of the three-dimensional force sensor 1, please refer to the following example: Figure 15 and Figure 16 As shown, the base plate 11 has a recessed step on its periphery. The step includes a first step surface 11A, a connecting surface 11B, and a second step surface 11C. The connecting surface 11B is used to connect the first step surface 11A and the second step surface 11C. A second gap is formed between the surrounding plate 13 and the second step surface 11C. The three-dimensional force sensor 1 also includes a second sealing element 16, which fills the second gap.

[0073] The first step surface 11A, the connecting surface 11B, and the second step surface 11C together form a step. The first step surface 11A is the surface of the base plate 11, and multiple force sensors 12 abut against the first step surface 11A. The second step surface 11C is lower than the first step surface 11A. A second seal 16 fills the second gap between the surrounding plate 13 and the second step surface 11C to prevent external moisture from entering the interior of the three-dimensional force sensor 1 through the gap between the base plate 11 and the surrounding plate 13. This prevents the force sensors 12 and other components inside the three-dimensional force sensor 1 from getting damp or short-circuiting. It also prevents dust, sand, and other particles from entering the interior of the three-dimensional force sensor 1 through the gap between the base plate 11 and the surrounding plate 13, avoiding contamination or damage to the force sensor 1. In other words, the second seal 16 provides waterproof and dustproof protection, improving the reliability of the force sensors 12 inside the three-dimensional force sensor 1. Simultaneously, the second seal 16 also improves the connection stability between the base plate 11 and the surrounding plate 14.

[0074] In some embodiments, the second seal 16 may be made of rubber, silicone, or other materials that can achieve a sealing effect, and the second seal 16 may be formed by injection molding rubber material into the second gap.

[0075] In one example, such as Figure 15 As shown, the inner wall of the enclosure 13 is provided with annular ribs 131, which abut against the first step surface 11A. The enclosure 13 abuts against the first step surface 11A of the base plate 11 through the annular ribs 131. The annular ribs 131 can evenly distribute the external force acting on the enclosure 13 onto the base plate 11, reducing local stress concentration and thus extending the service life of the enclosure 13. During assembly, the annular ribs 131 can also serve as positioning and guiding elements, making it easier to align and install the enclosure 13 with the base plate 11, thereby simplifying the assembly process. The tight contact between the annular ribs 131 on the inner wall of the enclosure 13 and the base plate 11 can further enhance the sealing effect of the three-dimensional force sensor 1. In some embodiments, the enclosure 13 can be made of silicone or other materials.

[0076] The cover plate 14 covers the open opening and is fixedly connected to multiple force sensors 12. At this time, the cavity 1A formed by the base plate 11, the surrounding plate 13, and the cover plate 14 is a closed cavity, thus providing storage and protection for the multiple force sensors 12. To ensure the secure connection between the multiple force sensors 12 and the cover plate 14, please refer to an example. Figure 17 and Figure 18As shown, each force sensor 12 has multiple third mounting holes 12B on the side facing the cover plate 14, and the cover plate 14 has multiple third through holes 14B at positions corresponding to the force sensors 12. The three-dimensional force sensor 1 also includes multiple second fasteners 19, which pass through the third through holes 14B and their corresponding third mounting holes 12B to improve the connection between the force sensor 12 and the cover plate 14, thereby ensuring the reliability of force transmission. The second fasteners 19 can be bolts, screws, or other fasteners. The second fasteners 19 provide a high-strength mechanical connection to ensure the connection between each force sensor 12 and the cover plate 14. Furthermore, the second fasteners 19 can be installed and disassembled multiple times without damaging the force sensor 12 or the cover plate 14, facilitating maintenance and replacement. During assembly, the second fasteners 19 can also limit the force sensor 12, that is, by using the second fasteners 19, the force sensor 12 can be fixedly connected to the cover plate 14, preventing installation deviations of the force sensor 12 that could affect measurement accuracy.

[0077] In some embodiments, the positions of the third mounting hole 12B, the third through hole 14B, and the second fastener 19 can be set according to actual needs. For example, Figure 17 As shown, a third mounting hole 12B is provided on the side of the force sensor 12 facing the base plate 11. The corresponding number of third through holes 14B and second fasteners 19 is also one. The third mounting hole 12B is located at the center of the side of the force sensor 12 facing the base plate 11. Positioning the third mounting hole 12B at the center allows for a more even distribution of the external force on the force sensor 12, reducing stress concentration and thus improving the stability and strength of the force sensor 12. Furthermore, a centrally fixed force sensor 12 can better resist torsional moments, preventing twisting or deformation under stress. Alternatively, each force sensor 12 may have multiple first mounting holes 12A on the side facing the base plate 11. The corresponding number of second through holes 11E and first fasteners 18 is also multiple. Each first fastener 18 passes through one first mounting hole 12A and one second through hole 11E. Thus, each force sensor 12 is secured to the base plate 11 by four first fasteners 18, resulting in a high degree of connection strength.

[0078] In one example, please refer to Figure 17 and Figure 18The cover plate 14 has multiple fourth mounting holes 14C pre-drilled for connection with other external connectors in the foot structure. These fourth mounting holes 14C are evenly distributed on the cover plate 14 with its geometric center as the center of symmetry. When the three-dimensional force sensor 1 needs to be connected to the external connector, the multiple fourth mounting holes 14C are connected to the external connector using bolts, screws, or other fasteners. This achieves the connection between the cover plate 14 and the external connector, allowing the force on the external connector to be transmitted to the multiple force sensors 12 fixedly connected to the cover plate 14, thereby achieving force measurement. In some embodiments, the number of fourth mounting holes 14C can be set according to the measuring range and the strength of the fasteners. The number and position of the second mounting holes 11F on the base plate 11 correspond to the fourth mounting holes 14C on the cover plate 14. Figure 12 and Figure 13 As shown, when 12 second mounting holes 11F are provided with the geometric center of the base plate 11 as the center, the corresponding configuration is as follows: Figure 17 and Figure 18 As shown, 12 fourth mounting holes 14C are provided around the geometric center of the cover plate 14. The specific number of the second mounting holes 11F and the fourth mounting holes 14C can be set according to actual needs.

[0079] To improve the sealing effect between the cover plate 14 and the surrounding plate 13, and further enhance the overall sealing effect of the three-dimensional force sensor 1, in one example, such as Figure 18 As shown, a first gap is formed between the inner wall of the enclosure 13 and the outer periphery of the cover plate 14. The three-dimensional force sensor 1 also includes a first sealing element 15, which fills the first gap. Specifically, the first sealing element 15 fills the second gap between the enclosure 13 and the cover plate 14 to prevent external moisture from entering the interior of the three-dimensional force sensor 1 through the gap between the cover plate 14 and the enclosure 13, thereby preventing the force sensor 12 and other devices from getting damp or short-circuited. It also prevents dust, sand, and other particles from entering the interior of the three-dimensional force sensor 1 through the gap between the cover plate 14 and the enclosure 13, thus preventing contamination or damage to the force sensor 1. In other words, the first sealing element 15 can provide waterproof and dustproof protection, further improving the reliability of the force sensor 12 inside the three-dimensional force sensor 1.

[0080] In some embodiments, the first seal 15 may be made of rubber, silicone, or other materials that can achieve a sealing effect, and the first seal 15 may be formed by injection molding rubber material into the first gap.

[0081] To improve the measurement accuracy of the three-dimensional force sensor 1 provided in this application, in one example, a groove 14A is recessed on the side of the cover plate 14 facing away from the base plate 11, and the groove 14A is configured to be coaxial with the external connector. Thus, when the three-dimensional force sensor 1 can be coaxially connected to the external connector through the groove 14A, measurement errors caused by mechanical offset or misalignment are minimized, thereby improving the measurement accuracy of the three-dimensional force sensor 1 provided in this application. Furthermore, the coaxial connection allows the force acting on the three-dimensional force sensor 1 to be distributed more evenly, avoiding nonlinear errors caused by uneven force distribution, thereby further improving the measurement accuracy of the three-dimensional force sensor 1. The coaxial connection between the three-dimensional force sensor 1 and the external connector reduces mechanical stress and wear, thereby increasing the service life of the three-dimensional force sensor 1 and the external connector, and reducing maintenance and replacement costs.

[0082] In some embodiments, please refer to Figure 17 and Figure 18 As shown, the groove 14A can be set at the geometric center of the cover plate 14. The bottom wall of the groove 14A is circular, and the specific shape of the groove 14A can be set according to actual needs.

[0083] In summary, the three-dimensional force sensor 1 provided in this application, through multiple arrangements of one-dimensional force sensors 12, can achieve multi-dimensional measurement of the forces acting on the base plate 11 and the cover plate 14. While ensuring measurement accuracy, it simplifies the structure, reduces assembly difficulty, and compared to six-dimensional force sensors, one-dimensional force sensors have lower costs and higher versatility. Compared to related technologies that require manual installation of multiple sets of strain gauges, the three-dimensional force sensor in this application enables automated assembly, effectively improving production efficiency.

[0084] A second aspect of this application also proposes a foot structure including the three-dimensional force sensor 1 described in any of the above embodiments. The foot structure provided in this application, having the three-dimensional force sensor 1 of the above embodiments, possesses all the beneficial effects of the three-dimensional force sensor 1. The three-dimensional force sensor 1 has been described in detail above and will not be repeated here.

[0085] 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.

[0086] 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 three-dimensional force sensor (1), characterized in that, The three-dimensional force sensor (1) includes: Base plate (11); Multiple force sensors (12) are fixed on the base plate (11), and each force sensor (12) is a one-dimensional force sensor. A surrounding panel (13) surrounds the periphery of the base plate (11) and forms a cavity (1A) with the base plate (11) having an open top; a plurality of force sensors (12) are located within the cavity (1A); and, A cover plate (14) covers the opening and is fixedly connected to a plurality of force sensors (12).

2. The three-dimensional force sensor (1) according to claim 1, characterized in that, Multiple force sensors (12) are evenly distributed on the base plate (11) with the geometric center of the base plate (11) as the center of symmetry.

3. The three-dimensional force sensor (1) according to claim 2, characterized in that, The number of force sensors (12) is greater than or equal to three.

4. The three-dimensional force sensor (1) according to claim 1, characterized in that, A first gap is formed between the inner wall of the enclosure (13) and the outer periphery of the cover plate (14); the three-dimensional force sensor (1) further includes: The first seal (15) fills the first gap.

5. The three-dimensional force sensor (1) according to claim 1, characterized in that, The base plate (11) has a recessed periphery forming a step, the step including a first step surface (11A), a connecting surface (11B) and a second step surface (11C), the connecting surface (11B) being used to connect the first step surface (11A) and the second step surface (11C), and a second gap being formed between the surrounding plate (13) and the second step surface (11C); the three-dimensional force sensor (1) further includes: The second seal (16) fills the second gap.

6. The three-dimensional force sensor (1) according to claim 5, characterized in that, The inner wall of the enclosure (13) is provided with annular ribs (131), which abut against the first step surface (11A).

7. The three-dimensional force sensor (1) according to claim 1, characterized in that, The cover plate (14) has a recessed groove (14A) on the side opposite to the bottom plate (11), and the groove (14A) is configured to be coaxial with the external connector.

8. The three-dimensional force sensor (1) according to any one of claims 1-7, characterized in that, The base plate (11) is provided with a first through hole (11D); the three-dimensional force sensor (1) further includes: A sealing sleeve (17) is inserted into the first through hole (11D) and is attached to the side of the base plate (11) away from the force sensor (12). The wiring of the multiple force sensors (12) is inserted into the sealing sleeve (17).

9. The three-dimensional force sensor (1) according to any one of claims 1-7, characterized in that, Each of the force sensors (12) includes: A sensor body (121) is fixedly connected to the base plate (11) and the cover plate (14); and, A resistor (122) is fixed inside the sensor body (121).

10. A foot structure, characterized in that, include: Shell (2); as well as The three-dimensional force sensor (1) as described in any one of claims 1-9 is connected to the housing (2).

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