Force sensor, electromechanical brake device and vehicle

Abstract

The utility model is applicable to the technical field of sensors, and provides a force sensor, an electronic mechanical brake device and a vehicle, and the force sensor comprises an elastic body, an installation boss and a strain gauge. The top end of the elastic body is provided with a mounting surface, and the mounting boss is formed on the mounting surface in a protruding mode and shares the central axis with the elastic body. The strain gauge is at least used for detecting deformation of the mounting boss. A surface mounting boss is arranged on the protruding surface of the top end of a mounting boss, a strain gauge is attached to the surface mounting boss, and an adjusting structure which is used for changing the surface mounting area so as to at least adjust stress distribution on the surface mounting boss is arranged on the surface mounting boss. Therefore, the stress distribution condition on the patch boss can be adjusted through the adjusting structure, so that the strain gradient of the position where the strain gauge is attached reaches a relatively balanced state, the uniformity is relatively good, the linearity difference of an output detection signal is relatively small, the detection precision is improved, and the detection accuracy is improved. And therefore, the use reliability of the electronic mechanical braking device and the vehicle is improved.

Description

Technical Field

[0001] This utility model belongs to the field of sensor technology, and in particular relates to a force sensor, an electromechanical braking device, and a vehicle. Background Technology

[0002] Electro-Mechanical Brake (EMB) is the core of the next generation of brake-by-wire technology, and the detection accuracy of its force sensor directly affects the braking response speed and vehicle safety.

[0003] In related technologies, strain gauges in force sensors are usually directly attached to a flat patch surface on the elastomer. However, due to the uneven stress distribution on the elastomer, the strain gradient distribution is uneven, resulting in nonlinearity of the detection signal and affecting the detection accuracy. Utility Model Content

[0004] In view of this, the present invention provides a force sensor, an electromechanical braking device, and a vehicle to solve the problem of detection accuracy being affected by the nonlinearity of the detection signal.

[0005] To solve the above problems, the technical solution of this utility model is implemented as follows:

[0006] A force sensor includes: an elastic body having a mounting surface at its top end; a mounting boss protruding from the mounting surface and disposed along the same central axis as the elastic body, the orthographic projection of the mounting boss in a first direction being located within the mounting surface; and a strain gauge attached to the mounting boss, the strain gauge being used at least to detect the deformation of the mounting boss; wherein, a patch boss protrudes from the top end of the mounting boss, the strain gauge is attached to the patch boss, and the patch boss is provided with an adjustment structure for changing the patch area to at least adjust the stress distribution on the patch boss.

[0007] In some embodiments, at least three patch bosses are provided, and each patch boss is evenly distributed around the central axis, with a gap between two adjacent patch bosses; wherein, each patch boss is provided with the adjustment structure.

[0008] In some embodiments, the adjustment structure is provided on both sidewalls of each of the patch bosses facing the adjacent patch bosses.

[0009] In some embodiments, the mounting boss is arranged in a ring around the central axis and has an inner ring end close to the central axis and an outer ring end away from the central axis, with the patch boss connected between the inner ring end and the outer ring end.

[0010] In some embodiments, the adjustment structure includes an adjustment groove that is recessed toward the interior of the patch boss.

[0011] In some embodiments, the contour shape of the adjustment groove is arc-shaped; wherein, the lateral dimension of the end of the patch boss connected to the outer ring end is a first dimension, and the lateral dimension of the patch boss located at the bottom of the adjustment groove is a second dimension, and the first dimension is larger than the second dimension.

[0012] In some embodiments, the strain gauge is attached to a mounting boss located between the adjustment groove and the outer ring end.

[0013] In some embodiments, the force sensor further includes: a housing, which covers the elastic body, and an accommodating space is formed between the housing and the elastic body, with the mounting boss located within the accommodating space; a circuit board, disposed within the accommodating space, and electrically connected to the strain gauge; wherein the mounting boss is provided with a mounting step for supporting the circuit board above the strain gauge, the elastic body is provided with a fixed step for supporting the housing, and the housing abuts against the fixed step.

[0014] This utility model embodiment also provides an electromechanical braking device, including a braking body and a force sensor as described in any of the above embodiments, wherein the force sensor is mounted on the braking body.

[0015] This utility model embodiment also provides a vehicle, including wheels and an electromechanical braking device as described in any of the above embodiments, wherein the electromechanical braking device is connected to the wheels to at least control the rotational speed of the wheels.

[0016] This utility model provides a force sensor including an elastic body, a mounting boss, and a strain gauge. The elastic body has a mounting surface at its top, and the mounting boss protrudes from the mounting surface and is arranged along the same central axis as the elastic body. Furthermore, the orthographic projection of the mounting boss in a first direction lies within the mounting surface. The strain gauge is used to detect at least the deformation of the mounting boss. This utility model embodiment provides a patch boss protruding from the top of the mounting boss, on which the strain gauge is attached. An adjustment structure is provided on the patch boss to change the patch area, thereby adjusting the stress distribution on the patch boss. By setting the position and shape of the adjustment structure on the patch boss according to the detection needs, the stress distribution on the patch boss can be adjusted, achieving a more balanced strain gradient at the location where the strain gauge is attached, resulting in better uniformity. This leads to a smaller linearity difference in the output detection signal, improving the detection accuracy of the force sensor, and ultimately enhancing the reliability of electromechanical braking devices and vehicles. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the force sensor provided in this embodiment of the utility model;

[0018] Figure 2 This is an exploded view of the force sensor provided in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the force sensor provided in this embodiment of the present invention, omitting the outer casing and circuit board;

[0020] Figure 4 This is a cross-sectional schematic diagram of the force sensor provided in this embodiment of the utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Force sensor; 10. Accommodation space; 11. Elastic body; 111. Mounting surface; 112. Fixing step; 12. Mounting boss; 121. Patch boss; 122. Adjustment structure; 123. Outer ring end; 124. Inner ring end; 125. Mounting step; 13. Strain gauge; 14. Housing; 15. Circuit board; 16. Spacing groove; W1, First dimension; W2, Second dimension. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0024] The specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction. For example, different combinations of specific technical features can form different embodiments and technical solutions. To avoid unnecessary repetition, the various possible combinations of the specific technical features in this utility model will not be described separately.

[0025] In the following description, the terms "first," "second," and "..." are used merely to distinguish different objects and do not indicate that the objects have the sameness or relationship. It should be understood that the directional descriptions "above," "below," "outside," and "inside" refer to the orientation under normal use conditions, while "left" and "right" refer to the left and right directions shown in the corresponding diagrams, which may or may not be the left and right directions under normal use conditions.

[0026] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. "A plurality of" means two or more.

[0027] like Figure 1 As shown in the figure, a force sensor 1 provided in this embodiment of the present invention is applied to the electronic braking device of a vehicle. The force sensor 1 is a device that converts the force applied to an object into an electrical signal, sensing and measuring the magnitude of the force by measuring the deformation generated after the force is applied. The detection of the deformation is achieved through an internal strain gauge. A strain gauge is typically made of conductor or semiconductor material and has a sensitive grid structure, used to measure strain. When a strain gauge undergoes mechanical deformation under the action of an external force, its resistance value changes accordingly; this phenomenon is called the "strain effect." In use, the strain gauge is attached to the detection point of a component (such as an elastic body). When the component is subjected to force, strain occurs at the detection point, and the sensitive grid deforms accordingly, causing a change in its resistance. The magnitude of this resistance change is then measured by a detection instrument and converted into a strain value at the detection point, thus revealing the force condition at the detection point.

[0028] The sensitive grid of a strain gauge is a series of parallel wires arranged in a zigzag pattern along a narrow conductor strip. This arrangement accumulates minute deformations along the baseline to form a larger cumulative value of resistance change. The specific detection principle of a strain gauge utilizes the physical and geometric properties of conductors. When a conductor is stretched within its elastic limit, it will not break or undergo permanent deformation but will instead narrow and lengthen; this deformation leads to an increase in its terminal resistance. Conversely, when a conductor is compressed, it will widen and shorten; this deformation leads to a decrease in its terminal resistance. The strain gauge is connected via a Wheatstone bridge circuit, converting the resistance change into a voltage signal output. Thus, by measuring the resistance of the strain gauge, the strain in the area it covers can be calculated.

[0029] Specifically, the linearity of force sensor 1 refers to the degree to which the actual relationship curve between its output signal and the input force value deviates from an ideal straight line (i.e., a linear relationship). The smaller the linearity difference, the more accurate the output result of force sensor 1. For example, when force sensor 1 is used as a brake force sensor in the electromechanical braking device of a vehicle, the linearity difference refers to the degree of non-linearity between the output signal of force sensor 1 and the displacement of the brake pedal; that is, the change between the output signal of force sensor 1 and the displacement of the brake pedal is not a strictly linear relationship. The smaller the linearity difference, the more linear the response of force sensor 1 to changes in the displacement of the brake pedal, and the better the performance of force sensor 1. Conversely, a large linearity difference will affect the accuracy of the output of force sensor 1, which may cause the braking system to fail to respond accurately to the driver's operation, thereby affecting the braking performance and safety of the vehicle. Therefore, providing a force sensor 1 with a small linearity difference helps to improve the braking performance and safety of the vehicle.

[0030] like Figure 1 and Figure 2 As shown, the force sensor 1 provided in this embodiment of the present invention includes an elastic body 11, a mounting boss 12, and a strain gauge 13. The top end of the elastic body 11 has a mounting surface 111, which is typically a flat surface. The mounting boss 12 protrudes from the mounting surface 111 and is arranged along the same central axis as the elastic body 11. Furthermore, the orthographic projection of the mounting boss 12 in a first direction lies within the mounting surface 111. Both the elastic body 11 and the mounting boss 12 are parts with high structural strength and capable of elastic deformation. The elastic body 11 and the mounting boss 12 can be integrally formed, or they can be two independent parts fixed together by connectors or welding. At least a portion of the mounting boss 12 is higher than the top surface of the elastic body 11, and the outline area of ​​the mounting boss 12 is smaller than the area of ​​the mounting surface 111. When the mounting boss 12 and the mounting body are arranged along the same central axis, and the outer outline shapes of the elastic body 11 and the mounting boss 12 are consistent, a stepped surface is formed in the gap between the mounting boss 12 and the elastic body 11. This stepped surface can be used as the force-bearing area when the force sensor 1 bears external forces. That is, when an external force is applied to this stepped surface, it can at least cause deformation of the mounting boss 12.

[0031] The orthographic projection of the mounting boss 12 in the first direction is located within the mounting surface 111, meaning that the orthographic projection of the mounting boss 12 on the mounting surface 111 in the first direction does not extend beyond the area of ​​the mounting surface 111. In other words, the cross-sectional area of ​​the mounting boss 12 in the horizontal direction is smaller than the area of ​​the mounting surface 111. This arrangement contributes to the regularity of the overall shape of the force sensor 1. The "first direction" mentioned above refers to... Figure 1 The vertical direction shown is also the direction perpendicular to the horizontal direction.

[0032] Strain gauge 13 is attached to the mounting boss 12, and the strain gauge 13 is used at least to detect the deformation of the mounting boss 12. In this way, when the elastic body 11 is subjected to force, causing the mounting boss 12 to undergo elastic deformation, the strain gauge 13 attached to the mounting boss 12 will also deform, thereby causing the resistance of the strain gauge 13 to change. The change in resistance of the strain gauge 13 can be used to obtain a changing electrical signal, and then the force on the elastic body 11 can be measured using this electrical signal.

[0033] Specifically, such as Figure 2 and Figure 3 As shown, the uneven stress distribution of the mounting boss 12 after being subjected to force results in an uneven strain gradient distribution, causing nonlinearity in the detection signal of the strain gauge 13 and affecting the detection accuracy. Therefore, it is necessary to maintain a relatively uniform strain gradient within the area where the strain gauge 13 is attached, thereby ensuring the reliability of the detection accuracy. Therefore, in this embodiment of the invention, a mounting boss 121 is provided on the protruding surface at the top of the mounting boss 12, the strain gauge 13 is attached to the mounting boss 121, and an adjustment structure 122 is provided on the mounting boss 121 to change the area of ​​the mounting surface, thereby adjusting the stress distribution on the mounting boss 121. That is, a mounting boss 121 is provided at the top of the mounting boss 12, and an adjustment structure 122 is provided on the mounting boss 121. This adjustment structure 122 is used to change the shape of the mounting boss 121 (which is equivalent to changing the area of ​​the mounting surface), thereby enabling adjustment of the strain condition of the mounting boss 121 after being subjected to force. Thus, by adjusting the position and shape of the adjustment structure 122, the stress distribution on the strain gauge can be adjusted, ensuring the uniformity of the strain gradient in the area where the strain gauge 13 is attached. This results in a smaller linearity difference in the detection signal output by the strain gauge 13, thereby improving the detection accuracy of the force sensor 1.

[0034] Specifically, the top end of the elastic body 11 faces the same direction as the top end of the mounting boss 12, and the mounting boss 12 protrudes vertically from the mounting surface 111. Thus, the mounting boss 12 and the elastic body 11 are vertically connected.

[0035] A force sensor 1 provided in this embodiment of the present invention includes an elastic body 11, a mounting boss 12, and a strain gauge 13. The top end of the elastic body 11 has a flat mounting surface 111. The mounting boss 12 protrudes from the mounting surface 111 and is arranged along the same central axis as the elastic body 11. Furthermore, the orthographic projection of the mounting boss 12 in a first direction is located within the mounting surface 111, ensuring that the mounting boss 12 is not larger than the elastic body 11, thereby improving the overall structural regularity. This embodiment of the present invention provides a patch boss 121 protruding from the top end of the mounting boss 12, and the strain gauge 13 is attached to the patch boss 121. The strain gauge 13 is used to detect at least the deformation of the mounting boss 12. An adjustment structure 122 is provided on the patch boss 121 to change the patch area, thereby at least adjusting the stress distribution on the patch boss 121. In this way, by setting the position and shape of the adjustment structure 122 on the patch boss 121 according to the detection needs, the stress distribution on the patch boss 121 can be adjusted so that the strain gradient at the patch position of the strain gauge 13 reaches a more balanced state and the stress uniformity is better. This results in a smaller linearity difference in the output detection signal, improves the detection accuracy of the force sensor 1, and ensures good product performance stability.

[0036] like Figure 2 and Figure 3 As shown, in some embodiments, at least three patch bosses 121 are provided, and each patch boss 121 is evenly distributed around the central axis. Since each patch boss 121 protrudes from the top surface of the mounting boss 12, there is a gap groove 16 between two adjacent patch bosses 121, so that two adjacent patch bosses 121 are not directly connected, are independent of each other, and their detection performance does not interfere with each other. By providing multiple patch bosses 121, and each patch boss 121 is provided with a strain gauge 13, the multiple strain gauges 13 can increase the sensing area, thereby expanding the signal acquisition area, enabling the measurement and sensing of stress in multiple different directions, reducing measurement errors, and also improving the detection sensitivity.

[0037] Specifically, such as Figure 3 As shown, each patch boss 121 is provided with an adjustment structure 122. In this way, the stress distribution on each patch boss 121 can be adjusted by the adjustment structure 122, so that the strain gradient in the area where the strain gauge 13 is attached reaches a relatively balanced state. After the strain gauge 13 is attached, since the stress distribution on each patch boss 121 is relatively uniform, the linearity difference of the detection signal output by the strain gauge 13 during detection is small, which helps to improve the accuracy of the overall detection structure.

[0038] Specifically, the patch area can be changed by setting the adjustment structure 122. The adjustment structure 122 can either reduce the area of ​​the patch boss 121 or increase the area of ​​the patch boss 121, as long as the strain gradient of the patch area can be made to reach a relatively balanced state.

[0039] Specifically, after the adjustment structure 122 is set on the patch protrusion 121, the location of the strain gauge 13 is determined. Usually, finite element analysis is used to select a region with small and relatively uniform strain gradient changes for patching.

[0040] like Figure 2 and Figure 3 As shown, in some embodiments, each patch boss 121 has an adjustment structure 122 on both sidewalls facing the adjacent patch boss 121. Specifically, when at least three patch bosses 121 are provided, each patch boss 121 has another patch boss 121 on each side. By providing an adjustment structure 122 on each patch boss 121, the effectiveness of adjusting the stress distribution of the patch boss 121 can be improved through the combined action of the two adjustment structures 122. For ease of installation, the shape of the adjustment structure 122 on the same patch boss 121 can be kept the same.

[0041] like Figure 2 and Figure 3 As shown, in some embodiments, the mounting boss 12 is arranged in a ring around the central axis, having an inner ring end 123 near the central axis and an outer ring end 124 away from the central axis. The patch boss 121 is connected between the inner ring end 123 and the outer ring end 124. With this arrangement, the patch boss 121 is generally quadrilateral in shape, with two substantially opposite sides connected to the inner ring end 123 and the outer ring end 124 respectively, while the other two substantially opposite sides can be used to set the adjustment structure 122. Thus, the resulting shape has an area suitable for mounting the strain gauge 13, while also accommodating the setting of the adjustment structure 122. The mounting boss 12 can be a circular ring, a rectangular ring, or a ring structure of other shapes. In this embodiment of the invention, the mounting boss 12 is arranged in a circular ring.

[0042] like Figure 2 and Figure 3 As shown, in some embodiments, the adjustment structure 122 includes an adjustment groove, which is recessed towards the interior of the patch boss 121. Thus, by changing the shape of the adjustment groove, the stress distribution of the patch boss 121 can be adjusted. Furthermore, the adjustment groove is simple to set, easy to install, and offers good adjustment flexibility.

[0043] like Figure 2 and Figure 3As shown, in some embodiments, the contour shape of the adjustment groove is arc-shaped. Furthermore, the lateral dimension of the end of the patch boss 121 connected to the outer ring end 124 is set as the first dimension W1, and the lateral dimension of the patch boss 121 at the bottom of the adjustment groove is set as the second dimension W2. The first dimension W1 is then set to be larger than the second dimension W2. Specifically, by setting the adjustment groove to an arc shape, not only can the change in the force applied to the patch boss 121 be adjusted by changing the radius of the arc, but it also allows for a deepest recess within the patch boss 121. When two adjustment grooves are symmetrically arranged on both sides of the patch boss 121, the lateral dimension at the deepest point of both is set as the second dimension W2, while the lateral distance between the end of the patch boss 121 connected to the outer ring end 124 is set as the first dimension W1, and the first dimension W1 is made larger than the second dimension W2. Finite element analysis reveals that the strain gradient change near the outer ring end 124 is significantly higher than that near the inner ring end 123. The lateral dimensions at these two locations regulate the strain gradient; a smaller lateral dimension results in a larger strain gradient. Therefore, by setting the first dimension W1 to be larger than the second dimension W2, a balance can be achieved at the two locations. This ensures the uniformity of the strain gradient in the area of ​​the mounting boss 121 where the strain gauge 13 is attached, thereby improving the detection accuracy of the force sensor 1.

[0044] like Figure 3 As shown, in some embodiments, the strain gauge 13 is attached to the mounting boss 121 located between the adjustment groove and the outer ring end 124. That is, there is a certain distance between the adjustment groove and the outer ring end 124. The strain gauge 13 is attached to this part of the mounting boss 121, so that the two ends of the strain gauge 13 are close to the outer ring end 124 and the adjustment groove, respectively. Then, under the action of the adjustment groove, the strain gradient at both ends of the strain gauge 13 can generate a corresponding balance, reducing the interference caused by stress concentration on the strain boss, thereby improving the sensitivity and accuracy of detection.

[0045] like Figure 2 and Figure 4As shown, in some embodiments, the force sensor 1 further includes a housing 14 and a circuit board 15. The housing 14 covers the elastic body 11, and an accommodating space 10 is formed between the housing 14 and the elastic body 11. A mounting boss 12 is located within the accommodating space 10. The circuit board 15 is disposed within the accommodating space 10 and is electrically connected to the strain gauge 13. Furthermore, the mounting boss 12 is provided with a mounting step 125 for supporting the circuit board 15 above the strain gauge 13, and the elastic body 11 is provided with a fixing step 112 for supporting the housing 14. The housing 14 abuts against the fixing step 112. Specifically, the housing 14 can improve the waterproof and dustproof effect of the force sensor 1, reduce the risk of the circuit board 15 being interfered with by the external environment, and improve the performance stability of the force sensor 1. The housing 14 abuts against the fixing step 112, which can limit the installation position of the housing 14, maintaining the stability of the installation position of the housing 14 and the stability of the shape of the accommodating space 10. The outer casing 14 can be fixed to the fixed step 112 by adhesive to achieve a waterproof connection, or it can be connected by welding.

[0046] The circuit board 15 can output an electrical signal based on the resistance change of the strain gauge 13. Fixing the circuit board 15 on the mounting step 125 not only fixes the circuit board 15 and improves the positional stability of the circuit board 15, but also creates a mounting gap between the circuit board 15 and the strain gauge 13, thereby reducing the interference caused by the circuit board 15 to the strain gauge 13 and improving the reliability of the detection.

[0047] This utility model embodiment also provides an electromechanical braking device, including a braking body and a force sensor 1 as described in any of the above embodiments, wherein the force sensor 1 is mounted on the braking body. Thus, the motion state of the braking body can be detected by the force sensor 1. The specific implementation and working principle of the force sensor 1 can be found in the above embodiments and will not be repeated here. Using the force sensor 1 as a brake force sensor in the electromechanical braking device can improve the accuracy of the electromechanical braking device in sensing braking force, improve the device's ability to correctly respond to user braking operations, and enhance the reliability of the device.

[0048] This utility model embodiment also provides a vehicle, including wheels and the electromechanical braking device described in any of the above embodiments. The electromechanical braking device is connected to the wheels to at least control the wheel speed. Specific implementation methods and working principles of the electromechanical braking device can be found in the above embodiments and will not be repeated here.

[0049] Electromechanical braking devices have high accuracy in sensing braking force. Applying such devices to vehicles can improve the vehicle's accuracy in sensing user braking operations, thereby increasing the sensitivity of wheel speed control and improving vehicle safety and user experience.

[0050] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A force sensor, characterized in that, include: An elastic body, the top of which has a mounting surface; A mounting boss protrudes from the mounting surface and is arranged along the same central axis as the elastic body. The orthographic projection of the mounting boss in the first direction is located within the mounting surface. A strain gauge is attached to the mounting boss, and the strain gauge is used at least to detect the deformation of the mounting boss; The mounting boss has a protruding patch boss at its top, and the strain gauge is attached to the patch boss. The patch boss is provided with an adjustment structure for changing the patch area so as to at least adjust the stress distribution on the patch boss.

2. The force sensor as described in claim 1, characterized in that, The patch boss is provided with at least three, and each patch boss is evenly distributed around the central axis, with a gap groove between two adjacent patch bosses. Each of the patch protrusions is provided with the adjustment structure.

3. The force sensor as described in claim 2, characterized in that, The adjustment structure is provided on the two sidewalls of each of the patch bosses facing the adjacent patch boss.

4. The force sensor as described in claim 1, characterized in that, The mounting boss is arranged in a ring around the central axis, and has an inner ring end close to the central axis and an outer ring end away from the central axis. The patch boss is connected between the inner ring end and the outer ring end.

5. The force sensor as described in claim 4, characterized in that, The adjustment structure includes an adjustment groove, which is recessed towards the interior of the patch boss.

6. The force sensor as described in claim 5, characterized in that, The contour shape of the adjustment groove is arc-shaped; wherein, the lateral dimension of the end of the patch boss connected to the outer ring is the first dimension, and the lateral dimension of the patch boss located at the bottom of the adjustment groove is the second dimension, and the first dimension is greater than the second dimension.

7. The force sensor as described in claim 5, characterized in that, The strain gauge is attached to the mounting boss located between the adjustment groove and the outer ring end.

8. The force sensor as described in claim 1, characterized in that, The force sensor also includes: An outer shell is fitted onto the elastic body, and an accommodating space is formed between the outer shell and the elastic body, with the mounting boss located within the accommodating space; A circuit board is disposed within the accommodating space, and the circuit board is electrically connected to the strain gauge. The mounting boss is provided with a mounting step for supporting the circuit board above the strain gauge, and the elastic body is provided with a fixed step for supporting the outer shell, with the outer shell abutting against the fixed step.

9. An electromechanical braking device, characterized in that, It includes a braking body and a force sensor as described in any one of claims 1 to 8, wherein the force sensor is mounted on the braking body.

10. A vehicle, characterized in that, It includes a wheel and an electromechanical braking device as described in claim 9, the electromechanical braking device being connected to the wheel to at least control the rotational speed of the wheel.

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