Multidimensional sensor, moving part and robot

Abstract

The present disclosure relates to a multi-dimensional sensor, a moving component and a robot. The multi-dimensional sensor comprises a frame body having at least one stress arm, a control board assembled on the frame body, and an electrical connection unit assembled on the frame body and electrically connected with the control board. The electrical connection unit is connected with the at least one stress arm, and a portion of the electrical connection unit connected with the stress arm is provided with at least one first detection module. The multi-dimensional sensor of the present disclosure sets all the first detection modules on the electrical connection unit to form an integral whole. The electrical connection of each first detection module with the control board can be achieved by electrically connecting the electrical connection unit with the control board, without the need to separately lead out a wire of each first detection module to be electrically connected with the control board. The structure difficulty is simplified, the integration and space utilization of the multi-dimensional sensor are improved, and the structure volume and weight are reduced.

Description

Technical Field

[0001] This disclosure relates to the field of sensor technology, and more particularly to a multidimensional sensor, a moving part, and a robot. Background Technology

[0002] At various joints of a robot, such as the wrist or ankle, it is necessary to detect the robot's motion state and force conditions to provide essential reference information for subsequent motion control. Typically, robots often have multiple detection modules installed independently, with each module connected to a control board via a separate wire. This approach generally suffers from problems such as complex structure, low space utilization, large size, heavy weight, high cost, and low integration. Utility Model Content

[0003] This disclosure proposes a multidimensional sensor, moving parts, and robot to address at least some of the problems in the related art.

[0004] In a first aspect, embodiments of this disclosure provide a multidimensional sensor, comprising:

[0005] A frame, the frame having at least one stress arm;

[0006] A control panel, which is assembled onto the frame;

[0007] An electrical connection unit is assembled on the frame and electrically connected to the control board; the electrical connection unit is connected to at least one of the stress arms, and the portion of the electrical connection unit connected to the stress arm is provided with at least one first detection module.

[0008] Optionally, the electrical connection unit includes a first connection portion, which is electrically connected to the control board.

[0009] Optionally, the electrical connection unit further includes a main body, which is assembled to the frame;

[0010] The first connecting portion extends outward from the side wall of the main body, or the first connecting portion is connected to the main body and extends outward relative to the main body.

[0011] Optionally, the first connecting portion is bent toward the control panel to form a bent portion, and the bent portion is at least partially hooked onto the frame.

[0012] Optionally, the bending portion includes a first bending segment, a second bending segment bent and connected to the first bending segment, and a third bending segment bent and connected to the second bending segment;

[0013] The first bent segment extends outward relative to the main body in a first extending direction, the second bent segment extends relative to the first bent segment in a second extending direction toward the control panel, and the third bent segment extends relative to the second bent segment in a third extending direction toward the control panel.

[0014] Optionally, the first extending direction is parallel to the surface where the main body is located, the second extending direction is perpendicular to the first extending direction, and the third extending direction is opposite to the first extending direction.

[0015] Optionally, the electrical connection unit includes at least one extension, which is connected to at least one of the stress arms, and the extension connected to the stress arm is provided with at least one of the first detection modules.

[0016] Optionally, the electrical connection unit further includes a main body, which is assembled to the frame;

[0017] The extension is formed by extending outward from the side wall of the main body, or the extension is connected to the main body and extends outward relative to the main body.

[0018] Optionally, the extensions are multiple and are evenly arranged around the periphery of the main body.

[0019] Optionally, the extension covers at least a portion of the corresponding stress arm.

[0020] Optionally, the extension covers the position of maximum strain of the corresponding stress arm.

[0021] Optionally, the first detection module is disposed on the side of the extension facing the corresponding stress arm; or

[0022] The first detection module is located on the side of the extension that faces away from the corresponding stress arm.

[0023] Optionally, the stress arm is a polygonal prism with multiple side surfaces, at least one of the side surfaces being provided with the first detection module; the extension covers at least one of the side surfaces of the corresponding stress arm.

[0024] Optionally, the extension includes a plurality of folded portions that are sequentially and bendably connected to each other; at least one of the folded portions is provided with the first detection module; the folded portion provided with the first detection module covers the side surface of the corresponding stress arm.

[0025] Optionally, the number of folds corresponds to the number of side surfaces, and each fold is provided with the first detection module; the plurality of folds cover the exterior of each side surface of the corresponding stress arm in a one-to-one correspondence, and each fold is provided with the first detection module.

[0026] Optionally, the first detection module is attached to the side surface of the stress arm; or

[0027] The stress arm has a receiving groove on its side surface, and the first detection module is embedded in the receiving groove.

[0028] Optionally, there are multiple stress arms, which are evenly arranged along the circumference; the extension corresponds to the number of stress arms and is connected to the multiple stress arms accordingly.

[0029] Optionally, there are three stress arms and three extensions; or

[0030] There are four stress arms and four extensions.

[0031] Optionally, the electrical connection unit includes a main body that is assembled onto the frame.

[0032] Optionally, the electrical connection unit further includes a reinforcing plate connected to the side of the main body facing the frame, and the reinforcing plate is connected to the frame.

[0033] Optionally, the frame includes a first support and a second support in an annular shape, the first support being larger than the second support, the first support surrounding the periphery of the second support, and at least one stress arm being circumferentially connected between the first support and the second support; the control board and the electrical connection unit are respectively assembled on both sides of the second support along the axial direction.

[0034] Optionally, the inner wall of the second bracket is formed with a plurality of second connecting parts, and the control plate is fixedly connected to the plurality of second connecting parts from one side of the second bracket along the axial direction; the electrical connection unit is fixedly connected to the plurality of second connecting parts from the other side of the second bracket along the axial direction.

[0035] Optionally, the control board is further provided with electrical connection terminals, and the electrical connection unit is electrically connected to the electrical connection terminals; and / or

[0036] The control panel is also equipped with a second detection module; and / or

[0037] The first detection module includes a force measuring unit; and / or

[0038] There are multiple first detection modules, which are integrated in the electrical connection unit, or the multiple first detection modules are respectively connected to the electrical connection unit through wires.

[0039] Optionally, the second detection module includes an inertial measurement unit.

[0040] Secondly, embodiments of this disclosure propose a multidimensional sensor, including:

[0041] A frame, the frame having at least one stress arm;

[0042] A control board is assembled on the frame, and the control board is provided with an inertial measurement unit, which is used to measure at least one type of motion parameter of the object under test in at least one direction;

[0043] An electrical connection unit is assembled on the frame and electrically connected to the control board; the electrical connection unit is connected to at least one stress arm, and the portion of the electrical connection unit connected to the stress arm is provided with at least one force measuring unit, the force measuring unit being used to measure the deformation of the stress arm, the deformation being used to determine at least one second-type motion parameter of the object under test in at least one direction.

[0044] Optionally, the electrical connection unit includes a first connection portion, which is electrically connected to the control board.

[0045] Optionally, the electrical connection unit further includes a main body, which is assembled to the frame;

[0046] The first connecting portion extends outward from the side wall of the main body, or the first connecting portion is connected to the main body and extends outward relative to the main body.

[0047] Optionally, the first connecting portion is bent toward the control panel to form a bent portion, and the bent portion is at least partially hooked onto the frame.

[0048] Optionally, the bending portion includes a first bending segment, a second bending segment bent and connected to the first bending segment, and a third bending segment bent and connected to the second bending segment;

[0049] The first bent segment extends outward relative to the main body in a first extending direction, the second bent segment extends relative to the first bent segment in a second extending direction toward the control panel, and the third bent segment extends relative to the second bent segment in a third extending direction toward the control panel.

[0050] Optionally, the first extending direction is parallel to the surface where the main body is located, the second extending direction is perpendicular to the first extending direction, and the third extending direction is opposite to the first extending direction.

[0051] Optionally, the electrical connection unit includes at least one extension, which is connected to at least one stress arm, and the extension connected to the stress arm is provided with at least one force measuring unit.

[0052] Optionally, the electrical connection unit further includes a main body, which is assembled to the frame;

[0053] The extension is formed by extending outward from the side wall of the main body, or the extension is connected to the main body and extends outward relative to the main body.

[0054] Optionally, the extensions are multiple and are evenly arranged around the periphery of the main body.

[0055] Optionally, the extension covers at least a portion of the corresponding stress arm.

[0056] Optionally, the extension covers the position of maximum strain of the corresponding stress arm.

[0057] Optionally, the force measuring unit is disposed on the side of the extension facing the corresponding stress arm; or

[0058] The force measuring unit is located on the side of the extension that faces away from the corresponding stress arm.

[0059] Optionally, the stress arm is a polygonal prism with multiple side surfaces, and at least one side surface is provided with the force measuring unit; the extension covers at least one side surface of the corresponding stress arm.

[0060] Optionally, the extension includes a plurality of folded portions that are sequentially and bendably connected to each other; at least one of the folded portions is provided with the force measuring unit; the folded portion provided with the force measuring unit covers the side surface of the corresponding stress arm.

[0061] Optionally, the number of folds corresponds to the number of side surfaces, and each fold is provided with the force measuring unit; the plurality of folds cover the exterior of each side surface of the corresponding stress arm in a one-to-one correspondence, and each fold is provided with the force measuring unit.

[0062] Optionally, the force measuring unit is attached to the side surface of the stress arm; or

[0063] The stress arm has a receiving groove on its side surface, and the force measuring unit is embedded in the receiving groove.

[0064] Optionally, there are multiple stress arms, which are evenly arranged along the circumference; the extension corresponds to the number of stress arms and is connected to the multiple stress arms accordingly.

[0065] Optionally, there are three stress arms and three extensions; or

[0066] There are four stress arms and four extensions.

[0067] Optionally, the electrical connection unit includes a main body that is assembled onto the frame.

[0068] Optionally, the electrical connection unit further includes a reinforcing plate connected to the side of the main body facing the frame, and the reinforcing plate is connected to the frame.

[0069] Optionally, the control board is further provided with electrical connection terminals, and the electrical connection unit is electrically connected to the electrical connection terminals; and / or

[0070] The force measuring unit is multiple, and the multiple force measuring units are integrated in the electrical connection unit, or the multiple force measuring units are respectively connected to the electrical connection unit through wires.

[0071] Thirdly, embodiments of this disclosure propose a multidimensional sensor, including:

[0072] A control board, wherein the control board is provided with an inertial measurement unit, the inertial measurement unit being used to measure at least one type of motion parameter of the object under test in at least one direction;

[0073] A frame is connected to the control panel; the frame has at least one stress arm, and at least one stress arm is provided with a force measuring unit, the force measuring unit being used to measure the deformation of the stress arm, the deformation being used to determine at least one second type of motion parameter of the object under test in at least one direction.

[0074] Optionally, the frame includes a first support and a second support in an annular shape, the first support being larger than the second support, the first support surrounding the second support, and at least one stress arm being circumferentially connected between the first support and the second support; the control panel is assembled on the second support.

[0075] Optionally, the inner wall of the second bracket is formed with a plurality of second connecting parts, and the control plate is fixedly connected to the plurality of second connecting parts.

[0076] Optionally, the force measuring unit is attached to the stress arm; or

[0077] The stress arm has a receiving groove, and the force measuring unit is embedded in the receiving groove.

[0078] Optionally, the stress arm is a polygonal prism with multiple side surfaces, and at least one of the side surfaces is provided with the force measuring unit.

[0079] Optionally, there are multiple stress arms, which are evenly arranged along the circumference.

[0080] Optionally, the stress arms may be three or four.

[0081] Optionally, the control board is further provided with electrical connection terminals, and the electrical connection unit is electrically connected to the electrical connection terminals; and / or

[0082] The force measuring unit is multiple, and the multiple force measuring units are integrated in the electrical connection unit, or the multiple force measuring units are respectively connected to the electrical connection unit through wires.

[0083] Fourthly, embodiments of this disclosure provide a moving component, comprising:

[0084] The first and second motion structures that can move relative to each other; and

[0085] The multidimensional sensor as described in the first aspect, or the multidimensional sensor as described in the second aspect, or the multidimensional sensor as described in the third aspect; the first motion structure is assembled on one side of the frame along the axial direction, and the second motion structure is assembled on the other side of the frame along the axial direction.

[0086] Optionally: the first motion structure includes a hand structure, and the second motion structure includes an arm structure; or

[0087] The first motion structure includes a foot structure, and the second motion structure includes a leg structure; or

[0088] The first motion structure includes a torso structure, and the second motion structure includes an arm structure; or

[0089] The first motion structure includes a torso structure, and the second motion structure includes a leg structure.

[0090] Fifthly, embodiments of this disclosure provide a robot comprising: at least one moving part as described in the fourth aspect.

[0091] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0092] The multidimensional sensor disclosed herein integrates all the first detection modules into a single unit on the electrical connection unit. The electrical connection between each first detection module and the control board can be achieved simply by connecting the electrical connection unit to the control board. This eliminates the need to individually lead out wires from each first detection module to connect to the control board, which simplifies the structural complexity, improves the integration and space utilization of the multidimensional sensor, and reduces the structural volume and weight.

[0093] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0094] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0095] Figure 1 This is a perspective view of a multidimensional sensor from the front of an exemplary embodiment of the present disclosure.

[0096] Figure 2 yes Figure 1 An explosion diagram.

[0097] Figure 3 yes Figure 1 The main view.

[0098] Figure 4 yes Figure 3 Front view of the electrical connection unit of the multidimensional sensor.

[0099] Figure 5 This is a perspective view of the rear view of a multidimensional sensor, which is an exemplary embodiment of this disclosure.

[0100] Figure 6 yes Figure 5 An explosion diagram.

[0101] Figure 7 yes Figure 5 The main view.

[0102] Figure 8 yes Figure 7 Front view of the electrical connection unit of the multidimensional sensor.

[0103] Figure 9 This is a schematic diagram of a multidimensional sensor in a three-dimensional Cartesian coordinate system, which is an exemplary embodiment of the present disclosure. Detailed Implementation

[0104] Currently, six-dimensional force sensors and six-axis attitude sensors are mostly independent modules. However, in some special scenarios, such as the robot's wrist joint, data from both types of sensors is required. Taking the use of a six-dimensional force sensor on a dexterous wrist as an example, the relevant technologies have the following shortcomings:

[0105] 1. Traditional six-dimensional force sensors output six-dimensional force data based on their own coordinate system. However, upper-level application algorithms often require attitude data in conjunction with these sensors. For example, in the process of a robotic arm handing a cup of water to a person, the robot can use a six-dimensional force sensor to sense the combined force of the cup's weight and the interaction force between the robot and the person. Without attitude data, it is impossible to decouple gravity and the interaction force, and therefore impossible to adjust the force of the interaction with the person. Therefore, attitude data is crucial for the effective use of six-dimensional force sensor data.

[0106] 2. Traditional dexterous hand pose data is obtained by comprehensively calculating the poses of each joint encoder on the robot arm. However, due to the large number of joints, rigidity, and gear backlash, the relative pose accuracy of the dexterous hand compared to the robot torso is relatively poor. Furthermore, the robot torso pose also has errors in the world coordinate system. Therefore, the pose estimation of the dexterous hand in the world coordinate system using traditional methods has significant errors.

[0107] This disclosure proposes a multidimensional sensor, a moving part, and a robot to solve at least some of the problems in related technologies. To better understand the technical solutions of this disclosure, the multidimensional sensor, moving part, and robot of this disclosure will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0108] Example 1:

[0109] See Figures 1 to 8 As shown, this disclosure proposes a multidimensional sensor that can be applied to robotic arms with hand or foot structures, or distal joints of industrial robotic arms, or moving parts with two relatively movable motion structures. Both robotic arms and moving parts can be applied to humanoid robots. The multidimensional sensor is used to detect the force and posture at joints such as the robot's wrist or ankle, or between two relatively movable motion structures.

[0110] The multidimensional sensor may include a frame 10, a control board 20, and an electrical connection unit 30. The frame 10 has at least one stress arm 11. The control board 20 is assembled to the frame 10. The electrical connection unit 30 is assembled to the frame 10 and electrically connected to the control board 20. The electrical connection unit 30 is connected to at least one stress arm 11, and the portion of the electrical connection unit 30 connected to the stress arm 11 has at least one first detection module 31. Optionally, the control board 20 and the electrical connection unit 30 are respectively assembled to the frame 10 along the axial direction (e.g., ...). Figure 1 (As shown by the direction of the dashed line) on both sides.

[0111] Optionally, the control board 20 can be a PCB circuit board. The electrical connection unit 30 can be an FPC flexible circuit board structure, used to electrically connect each of the first detection modules 31 to the control board 20. The portion of the electrical connection unit 30 connected to the stress arm 11 is provided with at least one first detection module 31. This can be understood as: each stress arm 11 may be provided with one or more first detection modules 31, or may not be provided with any first detection module 31. Furthermore, the number of first detection modules 31 provided on each stress arm 11 may be the same or different, and this disclosure does not impose any restrictions on this.

[0112] Understandably, the longer the stress arm 11 (which can be understood as the length perpendicular to the axial direction of the frame 10), the greater the deformation of the stress arm 11 and the higher the sensitivity, but the smaller the measuring range (which can be understood as the magnitude of the measurable force) and the more prone it is to damage. Conversely, the shorter the stress arm 11, the smaller the deformation of the stress arm 11 and the lower the sensitivity, but the larger the measuring range and the less prone it is to damage.

[0113] The smaller the width and thickness of the stress arm 11 (which can be understood as the width and thickness in the axial direction parallel to the frame 10), the greater the deformation of the stress arm 11 and the higher the sensitivity, but the smaller the measuring range (which can be understood as the magnitude of the measurable force) and the more prone it is to damage. Conversely, the larger the width and thickness of the stress arm 11, the smaller the deformation of the stress arm 11 and the lower the sensitivity, but the larger the measuring range and the less prone it is to damage.

[0114] When a multidimensional sensor is subjected to an external force, the stress arm equipped with the first detection module deforms. By measuring the deformation of the stress arm through the first detection module and then performing force analysis on the data, the strain degree of the stress arm can be reflected and obtained, thereby obtaining the force situation of the entire object under test. When multidimensional sensors are applied to robotic arms or robots, they can acquire the force and posture of the entire robotic arm or robot at wrist joints such as wrists or ankles, or between two relatively movable moving structures.

[0115] As can be seen from the above technical solution, the multidimensional sensor disclosed herein integrates all the first detection modules 31 on the electrical connection unit 30 to form a whole. The electrical connection between each first detection module 31 and the control board 20 can be achieved simply by electrically connecting the electrical connection unit 30 to the control board 20. It is not necessary to individually lead out wires from each first detection module 31 to the control board 20 for electrical connection. This simplifies the structural complexity, improves the integration and space utilization of the multidimensional sensor, and reduces the structural volume and weight.

[0116] In some optional embodiments, the frame 10 includes a first support 12 and a second support 13 in an annular shape. The first support 12 is larger than the second support 13, and the first support 12 surrounds the periphery of the second support 13. At least one stress arm 11 is circumferentially connected between the first support 12 and the second support 13. The control board 20 and the electrical connection unit 30 are respectively assembled on both sides of the second support 13 along the axial direction. It can be understood that the frame 10 has a double-ring structure with a large ring inside a small ring, and the multi-dimensional sensor is composed of this double-ring structure, the control board 20, and the FPC circuit unit of the electrical connection unit 30. Optionally, both the first support 12 and the second support 13 are annular. The first support 12, each stress arm 11, and the second support 13 are integrally formed aluminum alloy structures with high structural strength. Of course, the frame 10 can also be made of other rigid materials, and the first support 12 and the second support 13 can also be in other shapes; this disclosure does not limit this.

[0117] Optionally, both the first support 12 and the second support 13, located circumferentially away from the second support 13 along the axial direction of the frame 10, can have multiple first connecting holes 19. These holes are connected to an external structure via fasteners that fit into the first connecting holes 19. The external structure can be a fixed base and a force-measuring object, such as a humanoid robot's dexterous hand (the force-measuring object) connected to the second support 13, and a robot forearm (the fixed base) connected to the first support 12. Alternatively, the external structure can be any two mutually movable first and second motion structures, as detailed below. In this embodiment, the fasteners can be screws, and the first connecting holes 19 can be screw holes adapted to screws. The first support 12 and the second support 13 each have eight first connecting holes 19.

[0118] In some alternative embodiments, there are multiple stress arms 11, evenly arranged circumferentially between the first support 12 and the second support 13. This circumferential distribution of the stress arms 11 allows for a more uniform overall stress distribution on the structure and facilitates stress analysis.

[0119] Optionally, there are three stress arms 11, forming a triangular distribution that makes the overall structure more stable. Alternatively, there are four stress arms 11, forming a four-corner distribution, which allows for the acquisition of stress information from an additional direction, making stress analysis more convenient. In the example shown in the figure, four stress arms 11 are used. Of course, in other examples, other numbers of stress arms 11 can be used, and this disclosure does not limit this.

[0120] In some optional embodiments, the inner wall of the second bracket 13 has a plurality of second connecting portions 14, and the control plate 20 is fixedly connected to the plurality of second connecting portions 14 from one side of the second bracket 13 along the axial direction. The electrical connection unit 30 is fixedly connected to the plurality of second connecting portions 14 from the other side of the second bracket 13 along the axial direction. Optionally, the two ends of the second connecting portions 14 along the axial direction of the frame 10 may each have second connecting holes 18, and both the control plate 20 and the electrical connection unit 30 may be fixedly connected to the second connecting portions 14 by fasteners adapted to the connecting portions. Optionally, the fasteners may be screws, and the second connecting holes 18 may be screw holes adapted to screws.

[0121] Furthermore, there are multiple second connecting portions 14, evenly arranged along the circumference on the inner wall of the second support 13 to form a connecting platform, facilitating the assembly of the control board and electrical connection unit. This allows for a more uniform overall stress distribution in the structure. In this embodiment, the number of second connecting portions 14 corresponds to the number of stress arms 11, and the second connecting portions 14 are correspondingly positioned on the inner wall of the second support 13 at locations corresponding to the stress arms 11. Thus, the second connecting portions 14 can provide a certain structural strength to the stress arms 11 at their corresponding positions, and also make the overall structure of the frame 10 more compact. Of course, the number of second connecting portions 14 can also be other than that, and this disclosure does not limit this.

[0122] In some alternative embodiments, the electrical connection unit 30 may include a main body 33 assembled to the frame 10. This establishes a connection between the electrical connection unit 30 and the frame 10. Optionally, the main body 33 may be an FPC flexible circuit board structure.

[0123] Furthermore, the electrical connection unit 30 may also include a reinforcing plate 36 connected to the side of the main body 33 facing the frame 10, and the reinforcing plate 36 is connected to the frame 10. It is understood that the main body 33 is fixedly connected to each of the second connecting portions 14 of the second support 13 of the frame 10 via the reinforcing plate 36. The main body 33 adopts an FPC flexible circuit board structure, which has relatively low strength. By setting the reinforcing plate 36 to connect with the frame 10, the structural strength of the electrical connection unit 30 can be enhanced, and it is also easier to assemble with the frame 10. Optionally, the main body 33 and the reinforcing plate 36 can be a circular structure adapted to the second support 13. The reinforcing plate 36 can be a steel plate or other rigid materials (such as FR4 composite material). The reinforcing plate 36 is used to facilitate the fixing of the inner connecting platform formed by the main body and each of the second connecting portions by screws.

[0124] In some optional embodiments, the electrical connection unit 30 includes a first connection portion 32, which is electrically connected to the control board 20. Thus, the electrical connection unit 30 only needs to have one first connection portion 32, which, through its electrical connection to the control board 20, enables the electrical connection of all the first detection modules 31 to the control board 20. Optionally, the control board 20 may also have an electrical connection terminal 21 as a plug-in electrical terminal, and the electrical connection unit 30 is electrically connected to the electrical connection terminal 21.

[0125] Furthermore, the first connecting portion 32 extends outward from the side wall of the main body portion 33, or the first connecting portion 32 is connected to the main body portion 33 and extends outward relative to the main body portion 33. Thus, the electrical connection unit 30 is assembled with the frame 10 via the main body portion 33 and electrically connected to the control board 20 via the first connecting portion 32. Optionally, the main body portion 33 and the first connecting portion 32 can be an integrally formed FPC flexible circuit board structure.

[0126] In some alternative embodiments, the first connecting portion 32 is bent toward the control board 20 to form a bent portion 34, and the bent portion 34 is at least partially hooked onto the frame 10. Thus, by hooking at least a portion of the bent portion 34 onto the frame 10, the first connecting portion 32 can be more securely connected to the control board 20. It is understood that the first connecting portion 32 can serve as a communication line for the electrical connection unit, extending outward through the bent portion 34 for connection with the control board, thereby achieving electrical connection between the electrical connection unit and the control board.

[0127] Optionally, the bending portion 34 includes a first bending segment 341, a second bending segment 342 bent and connected to the first bending segment 341, and a third bending segment 343 bent and connected to the second bending segment 342. The first bending segment 341 extends outward relative to the main body portion 33 along a first extending direction, the second bending segment 342 extends relative to the first bending segment 341 along a second extending direction toward the control plate 20, and the third bending segment 343 extends relative to the second bending segment 342 along a third extending direction toward the control plate 20.

[0128] In this embodiment, the first extending direction is parallel to the surface where the main body 33 is located, the second extending direction is perpendicular to the first extending direction, and the third extending direction is opposite to the first extending direction. That is, the bending angle between each pair of the first, second, and third extending directions is 90°, so that the bent part 34 is in the shape of "[", which makes it easier to hook onto the frame 10. Of course, the bending angle between the first, second, and third extending directions can also be adjusted according to the actual situation, and this disclosure does not limit it.

[0129] In some optional embodiments, the electrical connection unit 30 may further include at least one extension 35, which is correspondingly connected to at least one of the stress arms 11. The extension 35 connected to the stress arm 11 is provided with at least one of the first detection modules 31. It is understood that the extension 35 is the part of the electrical connection unit 30 connected to the stress arm 11. Each extension 35 may be provided with one or more first detection modules 31, so that each corresponding stress arm 11 is respectively provided with one or more first detection modules 31, enabling force measurement of the stress arm when deformation is detected.

[0130] Further, the extension portion 35 extends outward from the side wall of the main body portion 33, or the extension portion 35 is connected to the main body portion 33 and extends outward relative to the main body portion 33. Optionally, the main body portion 33 and each extension portion 35 can be an integrally formed FPC flexible circuit board structure. It is understood that the main body portion 33, the first connecting portion 32, and each extension portion 35 are an integrally formed FPC flexible circuit board structure, used to realize the electrical connection between each first detection module 31 and the control board 20.

[0131] In some alternative embodiments, the extension 35 covers at least a portion of the corresponding stress arm 11. It is understood that the extension 35 may completely cover the outside of the corresponding stress arm 11, or it may cover at least a portion of the outside of the corresponding stress arm 11. In this embodiment, the extension 35 covers the location of maximum strain in the corresponding stress arm 11. Thus, the stress arm 11 undergoes a greater degree of deformation, and the first detection module 31 can detect a wider range of stress on the stress arm 11, improving detection sensitivity.

[0132] In some optional embodiments, there are multiple stress arms 11, evenly arranged circumferentially between the first support 12 and the second support 13. There are multiple extensions 35, corresponding to the number of stress arms 11, and connected one-to-one with each stress arm 11; that is, each stress arm 11 is covered by an extension 35. The multiple extensions 35 are evenly arranged circumferentially on the periphery of the main body 33. Thus, the stress arms 11 are evenly distributed circumferentially, which makes the overall stress distribution of the structure more uniform and facilitates stress analysis.

[0133] Optionally, there are three stress arms 11 and three extensions 35, forming a triangular distribution that makes the overall structure more stable. Alternatively, there are four stress arms 11 and four extensions 35, forming a four-corner distribution, which allows for the acquisition of stress information from an additional direction, making stress analysis more convenient. In the example shown in the figure, four stress arms 11 and four extensions 35 are used. Of course, in other examples, other numbers of stress arms 11 and extensions 35 can be used, and this disclosure does not limit this.

[0134] In some alternative embodiments, the first detection module 31 is disposed on the side of the extension 35 facing away from the corresponding stress arm 11, that is, the first detection module 31 is disposed on the side of the extension 35 facing away from the corresponding stress arm 11. Alternatively, the first detection module 31 is disposed on the side of the extension 35 facing the corresponding stress arm 11, that is, the first detection module 31 is disposed between the extension 35 and the corresponding stress arm 11, which can be closer to the stress arm 11 and have better detection sensitivity.

[0135] Further, the stress arm 11 is a polygonal prism with multiple side surfaces, at least one of which is correspondingly provided with the first detection module 31. The extension 35 covers at least one side surface of the corresponding stress arm 11. It is understood that the extension may cover all or at least a portion of the side surfaces of the corresponding stress arm. All or at least a portion of the side surfaces of the stress arm 11 may be correspondingly provided with the first detection module 31. In this embodiment, the extension covers all the side surfaces of the corresponding stress arm, and all the side surfaces of the stress arm are correspondingly provided with the first detection module. The stress arm 11 is a square prism, which facilitates decoupling and calculation of stress analysis. Of course, the stress arm 11 can also be configured with other shapes and structures according to actual conditions, and this disclosure does not limit this.

[0136] In some optional embodiments, the extension 35 includes a plurality of folds 37, which are sequentially and bendably connected to each other. At least one of the folds 37 is provided with the first detection module 31. The fold 37 provided with the first detection module 31 covers the side surface of the corresponding stress arm 11. In this way, the stress arm 11 covered by the extension 35 can be correspondingly provided with the first detection module 31. It is understood that each fold 37 of the extension can be provided with the first detection module 31, or at least some of the folds 37 can be provided with the first detection module 31.

[0137] In this embodiment, the number of folded portions 37 corresponds to the number of side surfaces, and each folded portion 37 is provided with the first detection module 31. The plurality of folded portions 37 are correspondingly arranged to cover the exterior of each side surface of the corresponding stress arm 11, and each folded portion 37 is provided with the first detection module 31. Thus, each side surface of the stress arm 11 can be correspondingly provided with a first detection module 31 to ensure that the stress and deformation of the entire stress arm 11 can be detected, improving the accuracy of the detection. In this embodiment, there are four folded portions 37. It can be understood that the four folded portions 37, after folding, form a hollow box structure that covers the exterior of the corresponding stress arm 11, with the four folded portions 37 respectively covering the four side surfaces of the stress arm 11.

[0138] In some alternative embodiments, the first detection module 31 is attached to the side surface of the stress arm 11. For example, it can be fixed to the side surface of the stress arm 11 using a special adhesive and process to sense the deformation of the deformation column. Alternatively, the side surface of the stress arm 11 can be provided with a receiving groove, and the first detection module 31 is embedded in the receiving groove to achieve fixation with the stress arm 11 and to sense the deformation of the deformation column.

[0139] In some optional embodiments, there are multiple first detection modules 31. After the multiple first detection modules 31 are first fixed to their corresponding stress arms 11 using the aforementioned adhesive application or slotting method, they can be soldered to the electrical connection unit 30 via wires 9 (e.g., cables). Alternatively, the multiple first detection modules 31 can be directly integrated into the electrical connection unit 30, achieving a higher degree of integration. The extension 35 covers the corresponding stress arm 11, and the first detection modules 31 can also be fixed to their corresponding stress arms 11 using the aforementioned adhesive application or slotting method.

[0140] In some optional embodiments, the first detection module 31 may include a force measuring unit, such as a strain gauge or other form of force measuring unit. The strain gauge can be used to measure the deformation of the stress arm, which is used to determine the triaxial axial force and rotational torque of the object. In one optional embodiment, the strain gauge can be understood as a small-sized FPC (flexible printed circuit board) with crisscrossing copper wires arranged therein. The strain gauge and the stress arm are connected together. When the multidimensional sensor is subjected to an external force, the stress arm and the strain gauge can deform synchronously. The copper wires of the strain gauge are stretched and compressed by the external force, causing a change in voltage resistance. By detecting the change in this voltage value, it can be understood that the force situation at the stress arm can be obtained through calibration combined with algorithm detection and calculation, thus reflecting and obtaining the degree of deformation of the stress arm. After calculation and processing, the force and posture situation of the entire robotic arm or robot at the wrist or ankle joint, or between two relatively movable moving structures, can be obtained. In one optional embodiment, the strain gauge can also be a micro-strain sensor, which uses the strain characteristics of polymer materials to generate tensile or compressive strain when the sensor is subjected to force, thereby realizing the measurement of strain force. Of course, strain gauges can also be other sensors with strain force measurement capabilities, which will not be elaborated here.

[0141] In some optional embodiments, the control board 20 may also include a second detection module 22 and a control chip (MCU, Microcontroller Unit), with the control chip electrically connected to the second detection module 22. Optionally, the second detection module 22 may include an inertial measurement unit (IMU), a spatial attitude sensor used to measure the three-axis attitude angles (or angular rates) and linear acceleration of an object. Generally, an IMU contains three single-axis linear accelerometers and three single-axis gyroscopes. The linear accelerometers detect the linear acceleration signals of the object along the three independent axes of the carrier coordinate system, while the gyroscopes detect the angular velocity signals of the carrier relative to the navigation coordinate system. By measuring the angular velocity and linear acceleration of the object in three-dimensional space, the object's attitude can be calculated.

[0142] The multidimensional sensor disclosed herein, through the structure and assembly method of the frame, control board, and electrical connection unit described in the above embodiments and implementations, integrates a force measuring unit and an inertial measurement unit. The force measuring unit can be used to measure the deformation of the stress arm, and the inertial measurement unit can be used to measure the three-axis attitude angles (or angular rates) and linear acceleration of an object. Taking strain gauges as an example, the MCU reads the readings of all strain gauges through the on-board drive circuit, and calculates the axial force and rotational torque in the three-axis directions of the object under test, realizing the function of a six-dimensional force sensing unit or a six-dimensional force sensor. Simultaneously, the MCU also reads the IMU readings to obtain the three-axis attitude angles (or angular rates) and linear acceleration of the object under test, realizing the function of a six-axis attitude sensor. Figure 9 As shown, in a three-dimensional Cartesian coordinate system, the multi-dimensional sensor disclosed herein can sense 12 dimensions of information across three axes (x, y, z): axial force (F), linear acceleration (A), rotational torque (M), and angular velocity (Ω), thus realizing the function of a twelve-axis sensor. In this way, by combining the traditional six-dimensional force sensor and six-axis attitude sensor modules, both the robot's own force and attitude can be sensed, and data fusion can be performed in software. This greatly simplifies hardware and structural design and improves the efficiency of the robot's upper-level algorithms in utilizing sensor data. The robot's upper-level algorithms can obtain more accurate force and attitude information of the dexterous hand in the world coordinate system, thereby enabling precise control of the dexterous hand.

[0143] Example 2:

[0144] This disclosure proposes a multidimensional sensor that can be applied to robotic arms or legs with hand or foot structures, or distal joints of industrial robotic arms, or moving parts with two relatively movable motion structures. Both robotic arms and moving parts can be applied to humanoid robots. The multidimensional sensor is used to detect the force and posture at joints such as the robot's wrist or ankle, or between two relatively movable motion structures.

[0145] The multidimensional sensor may include a frame, a control board, and an electrical connection unit. The frame has at least one stress arm. The control board is assembled to the frame and includes an inertial measurement unit (IMU) for measuring at least one first-type motion parameter of the object under test in at least one direction. The electrical connection unit is assembled to the frame and electrically connected to the control board. The electrical connection unit is connected to at least one stress arm, and the portion of the electrical connection unit connected to the stress arm includes at least one force measuring unit for measuring the deformation of the stress arm. The deformation is used to determine at least one second-type motion parameter of the object under test in at least one direction.

[0146] It should be noted that the structure and assembly method of the frame, control board, and electrical connection unit of the multidimensional sensor in Embodiment 1 are also applicable to the multidimensional sensor in this embodiment. The force measuring unit can be configured in the same way as the first detection module described in Embodiment 1. The inertial measurement unit can be configured in the same way as the second detection module described in Embodiment 1.

[0147] Optionally, the first type of motion parameters includes attitude angle (or angular rate) and linear acceleration, and the second type of motion parameters includes axial force and rotational torque. In this embodiment, the inertial measurement unit is used to measure the attitude angle (or angular rate) and linear acceleration of the object under test in the three-axis directions, and the force measuring unit is used to measure the axial force and rotational torque of the object under test in the three-axis directions.

[0148] Thus, the multidimensional sensor disclosed herein integrates a force measurement unit and an inertial measurement unit. The force measurement unit can be used to measure the deformation of the stress arm, while the inertial measurement unit can be used to measure the three-axis attitude angles (or angular rates) and linear acceleration of the object. A control chip (MCU) can also be installed on the control board, electrically connected to the force measurement unit and the inertial measurement unit. Taking strain gauges as an example, the MCU reads the readings of all strain gauges through the on-board drive circuit, and calculates the axial force and rotational torque in the three-axis directions of the object under test, realizing the function of a six-dimensional force sensing unit or a six-dimensional force sensor. At the same time, the MCU also reads the readings of the IMU to obtain the three-axis attitude angles (or angular rates) and linear acceleration of the object under test, realizing the function of a six-axis attitude sensor. In a three-dimensional Cartesian coordinate system, the multidimensional sensor can sense three axes: axial force (F), linear acceleration (A), rotational torque (M), and angular velocity (Ω), for a total of 12 dimensions of information, thus realizing the function of a twelve-axis sensor. By combining the traditional six-dimensional force sensor and six-axis attitude sensor modules, the robot can sense both its own force and its own attitude. The data fusion in the software greatly simplifies the hardware and structural design and improves the efficiency of the robot's upper-level algorithm in utilizing sensor data. The robot's upper-level algorithm can obtain more accurate force and attitude information of the dexterous hand in the world coordinate system, thereby accurately controlling the dexterous hand.

[0149] Example 3:

[0150] This disclosure proposes a multidimensional sensor that can be applied to robotic arms or legs with hand or foot structures, or distal joints of industrial robotic arms, or moving parts with two relatively movable motion structures. Both robotic arms and moving parts can be applied to humanoid robots. The multidimensional sensor is used to detect the force and posture at joints such as the robot's wrist or ankle, or between two relatively movable motion structures.

[0151] The multidimensional sensor may include a control board and a frame. The control board is equipped with an inertial measurement unit (IMU) for measuring at least one first-type motion parameter of the object under test in at least one direction. The frame is connected to the control board and has at least one stress arm. At least one stress arm is equipped with a force measuring unit for measuring the deformation of the stress arm. The deformation is used to determine at least one second-type motion parameter of the object under test in at least one direction.

[0152] It should be noted that the structure and assembly method of the frame, control board, and electrical connection unit of the multidimensional sensor in Embodiment 1 are also applicable to the multidimensional sensor in this embodiment. The force measuring unit can be configured in the same way as the first detection module described in Embodiment 1. The inertial measurement unit can be configured in the same way as the second detection module described in Embodiment 1.

[0153] Optionally, the first type of motion parameters includes attitude angle (or angular rate) and linear acceleration, and the second type of motion parameters includes axial force and rotational torque. In this embodiment, the inertial measurement unit is used to measure the attitude angle (or angular rate) and linear acceleration of the object under test in the three-axis directions, and the force measuring unit is used to measure the axial force and rotational torque of the object under test in the three-axis directions.

[0154] Thus, the multidimensional sensor disclosed herein integrates a force measurement unit and an inertial measurement unit. The force measurement unit can be used to measure the deformation of the stress arm, while the inertial measurement unit can be used to measure the three-axis attitude angles (or angular rates) and linear acceleration of an object. Taking strain gauges as an example, the MCU reads the readings of all strain gauges through the on-board drive circuit, and calculates the axial force and rotational torque in the three-axis directions of the object under test, realizing the function of a six-dimensional force sensing unit or a six-dimensional force sensor. At the same time, the MCU also reads the readings of the IMU to obtain the three-axis attitude angles (or angular rates) and linear acceleration of the object under test, realizing the function of a six-axis attitude sensor. In a three-dimensional Cartesian coordinate system, the multidimensional sensor can sense three axes: axial force (F), linear acceleration (A), rotational torque (M), and angular velocity (Ω), for a total of 12 dimensions of information, thus realizing the function of a twelve-axis sensor. By combining the traditional six-dimensional force sensor and six-axis attitude sensor modules, the robot can sense both its own force and its own attitude. The data fusion in the software greatly simplifies the hardware and structural design and improves the efficiency of the robot's upper-level algorithm in utilizing sensor data. The robot's upper-level algorithm can obtain more accurate force and attitude information of the dexterous hand in the world coordinate system, thereby accurately controlling the dexterous hand.

[0155] This disclosure provides a robot comprising at least one moving component, which may include: a first moving structure and a second moving structure capable of relative movement, and a multi-dimensional sensor. The multi-dimensional sensor may be any one of Embodiments 1, 2, and 3. The first moving structure is assembled on one side of the frame along the axial direction, and the second moving structure is assembled on the other side of the frame along the axial direction. That is, the multi-dimensional sensor is connected between the first and second moving structures. Optionally, the first support of the frame of the multi-dimensional sensor, on the side of the frame away from the second support along the axial direction, and the second support, on the side of the frame away from the first support along the axial direction, may each have multiple connecting holes circumferentially formed, and the first and second moving structures are connected by fasteners adapted to the connecting holes. In this embodiment, the fasteners may be screws, and the connecting holes may be screw holes adapted to screws. The first and second supports each have eight connecting holes.

[0156] Furthermore, the first motion structure includes a hand structure (e.g., a dexterous hand), and the second motion structure includes an arm structure. A multidimensional sensor can be connected between the hand structure and the arm structure to measure the force and posture between them. Optionally, the hand structure is connected to a second support of the multidimensional sensor. The arm structure is connected to a first support of the multidimensional sensor. The arm structure may include a forearm or a robotic arm.

[0157] Alternatively, the first motion structure includes a foot structure, and the second motion structure includes a leg structure. A multidimensional sensor can be connected between the foot structure and the leg structure to measure the forces and postures between them. Optionally, the foot structure is connected to a second support of the multidimensional sensor, and the leg structure is connected to a first support of the multidimensional sensor. The leg structure may include a lower leg or a robotic leg.

[0158] Alternatively, the first motion structure includes a torso structure, and the second motion structure includes an arm structure. A multidimensional sensor can be connected between the torso structure and the arm structure to measure the forces and postures between them. Optionally, the arm structure is connected to a second support of the multidimensional sensor. The torso structure is connected to a first support of the multidimensional sensor. The torso structure may include the shoulder or back. The arm structure may include the upper arm or a robotic arm.

[0159] Alternatively, the first motion structure includes a torso structure, and the second motion structure includes a leg structure. A multidimensional sensor can be connected between the torso structure and the leg structure to measure the forces and postures between them. Optionally, the torso structure may include a shoulder or back. The leg structure may include a thigh or a robotic leg. Optionally, the leg structure is connected to a second support of the multidimensional sensor. The torso structure is connected to a first support of the multidimensional sensor. The torso structure may include a shoulder or back. The leg structure may include a thigh or a robotic leg.

[0160] The following section uses the first detection module or force measuring unit as a strain gauge and the multidimensional sensor disclosed herein connected between the dexterous hand and forearm as an example to introduce the working principle of the multidimensional sensor in a three-dimensional Cartesian coordinate system:

[0161] The dexterous hand can serve as a second support connecting the measured object to the multidimensional sensor, while the forearm can act as a base connecting the first support. When the dexterous hand is subjected to external force, the multidimensional sensor, acting as the connector between the base and the measured object, will also be subjected to force, causing slight deformation in each stress arm and changes in strain gauge readings. By pre-calibrating the relationship between force and strain gauge readings, and using a six-dimensional force analysis algorithm, the axial force (F) and rotational torque (M) in three directions of the measured object can be analyzed from the strain gauge readings, i.e., the six-dimensional force. The inertial measurement unit can sense the linear acceleration (A) and angular velocity (Ω) of the multidimensional sensor in the three-axis directions, and calculate the spatial attitude angles and attitude data of the multidimensional sensor at continuous moments using algorithms.

[0162] Therefore, the robot or moving part disclosed herein employs the multi-dimensional sensor described in the above embodiments and implementation methods. This multi-dimensional sensor can sense 12 dimensions of information across three axes (x, y, z): axial force (F), linear acceleration (A), rotational torque (M), and angular velocity (Ω), thus realizing the function of a twelve-axis sensor. In this way, by combining the traditional six-dimensional force sensor and six-axis attitude sensor modules, both the robot's own force and attitude can be sensed, and data fusion can be performed in software. This greatly simplifies hardware and structural design and improves the efficiency of the robot's upper-level algorithm in utilizing sensor data. The robot's upper-level algorithm can obtain more accurate force and attitude information of the dexterous hand or other parts in the world coordinate system, thereby enabling precise control of the dexterous hand or other parts.

[0163] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A multidimensional sensor, characterized in that, include: A frame, the frame having at least one stress arm; A control panel, which is assembled onto the frame; An electrical connection unit is assembled on the frame and electrically connected to the control board; the electrical connection unit is connected to at least one of the stress arms, and the portion of the electrical connection unit connected to the stress arm is provided with at least one first detection module.

2. The multidimensional sensor according to claim 1, characterized in that, The electrical connection unit includes a first connection part, which is electrically connected to the control board.

3. The multidimensional sensor according to claim 2, characterized in that, The electrical connection unit also includes a main body, which is assembled onto the frame. The first connecting portion extends outward from the side wall of the main body, or the first connecting portion is connected to the main body and extends outward relative to the main body.

4. The multidimensional sensor according to claim 3, characterized in that, The first connecting part is bent toward the control panel to form a bent part, and the bent part is at least partially hooked onto the frame.

5. The multidimensional sensor according to claim 4, characterized in that, The bending portion includes a first bending segment, a second bending segment bent and connected to the first bending segment, and a third bending segment bent and connected to the second bending segment; The first bent segment extends outward relative to the main body in a first extending direction, the second bent segment extends relative to the first bent segment in a second extending direction toward the control panel, and the third bent segment extends relative to the second bent segment in a third extending direction toward the control panel.

6. The multidimensional sensor according to claim 5, characterized in that, The first extending direction is parallel to the surface where the main body is located, the second extending direction is perpendicular to the first extending direction, and the third extending direction is opposite to the first extending direction.

7. The multidimensional sensor according to claim 1, characterized in that, The electrical connection unit includes at least one extension, which is connected to at least one of the stress arms. The extension connected to the stress arm is provided with at least one of the first detection modules.

8. The multidimensional sensor according to claim 7, characterized in that, The electrical connection unit also includes a main body, which is assembled onto the frame. The extension is formed by extending outward from the side wall of the main body, or the extension is connected to the main body and extends outward relative to the main body.

9. The multidimensional sensor according to claim 8, characterized in that, The extensions are multiple and are evenly arranged around the periphery of the main body.

10. The multidimensional sensor according to claim 7, characterized in that, The extension covers at least a portion of the corresponding stress arm.

11. The multidimensional sensor according to claim 10, characterized in that, The extension covers the position of maximum strain of the corresponding stress arm.

12. The multidimensional sensor according to claim 7, characterized in that, The first detection module is located on the side of the extension facing the corresponding stress arm; or The first detection module is located on the side of the extension that faces away from the corresponding stress arm.

13. The multidimensional sensor according to claim 7, characterized in that, The stress arm is a polygonal prism with multiple side surfaces, and at least one of the side surfaces is provided with the first detection module; the extension covers at least one of the side surfaces of the corresponding stress arm.

14. The multidimensional sensor according to claim 13, characterized in that, The extension includes a plurality of folded portions that are sequentially and bendably connected to each other; at least one of the folded portions is provided with the first detection module; the folded portion provided with the first detection module covers the side surface of the corresponding stress arm.

15. The multidimensional sensor according to claim 14, characterized in that, The number of folds corresponds to the number of side surfaces, and each fold is provided with the first detection module; the plurality of folds cover the exterior of each side surface of the corresponding stress arm in a one-to-one correspondence, and each fold is provided with the first detection module.

16. The multidimensional sensor according to claim 13, characterized in that, The first detection module is attached to the side surface of the stress arm; or The stress arm has a receiving groove on its side surface, and the first detection module is embedded in the receiving groove.

17. The multidimensional sensor according to claim 7, characterized in that, There are multiple stress arms, which are evenly arranged along the circumference; the extension corresponds to the number of stress arms and is connected to the multiple stress arms accordingly.

18. The multidimensional sensor according to claim 17, characterized in that, There are three stress arms and three extensions; or There are four stress arms and four extensions.

19. The multidimensional sensor according to claim 1, characterized in that, The electrical connection unit includes a main body, which is assembled onto the frame.

20. The multidimensional sensor according to claim 19, characterized in that, The electrical connection unit also includes a reinforcing plate connected to the side of the main body facing the frame, and the reinforcing plate is connected to the frame.

21. The multidimensional sensor according to claim 1, characterized in that, The frame includes a first support and a second support in an annular shape. The first support is larger than the second support. The first support surrounds the periphery of the second support. At least one stress arm is circumferentially connected between the first support and the second support. The control board and the electrical connection unit are respectively assembled on both sides of the second support along the axial direction.

22. The multidimensional sensor according to claim 21, characterized in that, The inner wall of the second bracket has a plurality of second connecting parts, and the control plate is fixedly connected to the plurality of second connecting parts from one side of the second bracket along the axial direction; the electrical connection unit is fixedly connected to the plurality of second connecting parts from the other side of the second bracket along the axial direction.

23. The multidimensional sensor according to claim 1, characterized in that, The control board is also provided with electrical connection terminals, and the electrical connection unit is electrically connected to the electrical connection terminals; and / or The control panel is also equipped with a second detection module; and / or The first detection module includes a force measuring unit; and / or There are multiple first detection modules, which are integrated in the electrical connection unit, or the multiple first detection modules are respectively connected to the electrical connection unit through wires.

24. The multidimensional sensor according to claim 23, characterized in that, The second detection module includes an inertial measurement unit.

25. A multidimensional sensor, characterized in that, include: A frame, the frame having at least one stress arm; A control board is assembled on the frame, and the control board is provided with an inertial measurement unit, which is used to measure at least one type of motion parameter of the object under test in at least one direction; An electrical connection unit is assembled on the frame and electrically connected to the control board; the electrical connection unit is connected to at least one stress arm, and the portion of the electrical connection unit connected to the stress arm is provided with at least one force measuring unit, the force measuring unit being used to measure the deformation of the stress arm, the deformation being used to determine at least one second-type motion parameter of the object under test in at least one direction.

26. The multidimensional sensor according to claim 25, characterized in that, The electrical connection unit includes a first connection part, which is electrically connected to the control board.

27. The multidimensional sensor according to claim 26, characterized in that, The electrical connection unit also includes a main body, which is assembled onto the frame. The first connecting portion extends outward from the side wall of the main body, or the first connecting portion is connected to the main body and extends outward relative to the main body.

28. The multidimensional sensor according to claim 27, characterized in that, The first connecting part is bent toward the control panel to form a bent part, and the bent part is at least partially hooked onto the frame.

29. The multidimensional sensor according to claim 28, characterized in that, The bending portion includes a first bending segment, a second bending segment bent and connected to the first bending segment, and a third bending segment bent and connected to the second bending segment; The first bent segment extends outward relative to the main body in a first extending direction, the second bent segment extends relative to the first bent segment in a second extending direction toward the control panel, and the third bent segment extends relative to the second bent segment in a third extending direction toward the control panel.

30. The multidimensional sensor according to claim 29, characterized in that, The first extending direction is parallel to the surface where the main body is located, the second extending direction is perpendicular to the first extending direction, and the third extending direction is opposite to the first extending direction.

31. The multidimensional sensor according to claim 25, characterized in that, The electrical connection unit includes at least one extension, which is connected to at least one stress arm, and the extension connected to the stress arm is provided with at least one force measuring unit.

32. The multidimensional sensor according to claim 31, characterized in that, The electrical connection unit also includes a main body, which is assembled onto the frame. The extension is formed by extending outward from the side wall of the main body, or the extension is connected to the main body and extends outward relative to the main body.

33. The multidimensional sensor according to claim 32, characterized in that, The extensions are multiple and are evenly arranged around the periphery of the main body.

34. The multidimensional sensor according to claim 31, characterized in that, The extension covers at least a portion of the corresponding stress arm.

35. The multidimensional sensor according to claim 34, characterized in that, The extension covers the position of maximum strain of the corresponding stress arm.

36. The multidimensional sensor according to claim 31, characterized in that, The force measuring unit is located on the side of the extension facing the corresponding stress arm; or The force measuring unit is located on the side of the extension that faces away from the corresponding stress arm.

37. The multidimensional sensor according to claim 31, characterized in that, The stress arm is a polygonal prism with multiple side surfaces, and at least one side surface is provided with the force measuring unit; the extension covers at least one side surface of the corresponding stress arm.

38. The multidimensional sensor according to claim 37, characterized in that, The extension includes a plurality of folded portions that are sequentially and bendably connected to each other; at least one of the folded portions is provided with the force measuring unit; the folded portion provided with the force measuring unit covers the side surface of the corresponding stress arm.

39. The multidimensional sensor according to claim 38, characterized in that, The number of folds corresponds to the number of side surfaces, and each fold is provided with the force measuring unit; the plurality of folds cover the exterior of each side surface of the corresponding stress arm in a one-to-one correspondence, and each fold is provided with the force measuring unit.

40. The multidimensional sensor according to claim 37, characterized in that, The force measuring unit is attached to the side surface of the stress arm; or The stress arm has a receiving groove on its side surface, and the force measuring unit is embedded in the receiving groove.

41. The multidimensional sensor according to claim 32, characterized in that, There are multiple stress arms, which are evenly arranged along the circumference; the extension corresponds to the number of stress arms and is connected to the multiple stress arms accordingly.

42. The multidimensional sensor according to claim 41, characterized in that, There are three stress arms and three extensions; or There are four stress arms and four extensions.

43. The multidimensional sensor according to claim 25, characterized in that, The electrical connection unit includes a main body, which is assembled onto the frame.

44. The multidimensional sensor according to claim 43, characterized in that, The electrical connection unit also includes a reinforcing plate connected to the side of the main body facing the frame, and the reinforcing plate is connected to the frame.

45. The multidimensional sensor according to claim 44, characterized in that, The control board is also provided with electrical connection terminals, and the electrical connection unit is electrically connected to the electrical connection terminals; and / or The force measuring unit is multiple, and the multiple force measuring units are integrated in the electrical connection unit, or the multiple force measuring units are respectively connected to the electrical connection unit through wires.

46. ​​A multidimensional sensor, characterized in that, include: A control board, wherein the control board is provided with an inertial measurement unit, the inertial measurement unit being used to measure at least one type of motion parameter of the object under test in at least one direction; A frame is connected to the control panel; the frame has at least one stress arm, and at least one stress arm is provided with a force measuring unit, the force measuring unit being used to measure the deformation of the stress arm, the deformation being used to determine at least one second type of motion parameter of the object under test in at least one direction.

47. The multidimensional sensor according to claim 46, characterized in that, The frame includes a first support and a second support in a ring shape. The size of the first support is larger than that of the second support. The first support surrounds the periphery of the second support. At least one stress arm is connected between the first support and the second support at intervals along the circumference. The control board is assembled on the second support.

48. The multidimensional sensor according to claim 47, characterized in that, The inner wall of the second bracket has a plurality of second connecting parts, and the control plate is fixedly connected to the plurality of second connecting parts.

49. The multidimensional sensor according to claim 46, characterized in that, The force measuring unit is attached to the stress arm; or The stress arm has a receiving groove, and the force measuring unit is embedded in the receiving groove.

50. The multidimensional sensor according to claim 46, characterized in that, The stress arm is a polygonal prism with multiple side surfaces, and at least one of the side surfaces is provided with the force measuring unit.

51. The multidimensional sensor according to claim 46, characterized in that, The stress arms are multiple and are evenly arranged along the circumference.

52. The multidimensional sensor according to claim 51, characterized in that, The stress arms are three or four.

53. The multidimensional sensor according to claim 46, characterized in that, The multidimensional sensor further includes an electrical connection unit, and the control board is also provided with electrical connection terminals, the electrical connection unit being electrically connected to the electrical connection terminals; and / or The force measuring unit is multiple, and the multiple force measuring units are integrated in the electrical connection unit, or the multiple force measuring units are respectively connected to the electrical connection unit through wires.

54. A moving part, characterized in that, include: A first motion structure and a second motion structure that can move relative to each other; as well as The multidimensional sensor as described in any one of claims 1 to 24, or the multidimensional sensor as described in any one of claims 25 to 45, or the multidimensional sensor as described in any one of claims 46 to 53; the first motion structure is assembled on one side of the frame along the axial direction, and the second motion structure is assembled on the other side of the frame along the axial direction.

55. The moving part according to claim 54, characterized in that: The first motion structure includes a hand structure, and the second motion structure includes an arm structure; or The first motion structure includes a foot structure, and the second motion structure includes a leg structure; or The first motion structure includes a torso structure, and the second motion structure includes an arm structure; or The first motion structure includes a torso structure, and the second motion structure includes a leg structure.

56. A robot, characterized in that, include: At least one moving part as described in claim 54 or 55.

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