Sensor device and robot

Abstract

This application relates to the field of sensor installation and discloses a sensor device and robot, including a housing, positioning members, limiting members, and a support member. The housing has a receiving cavity, within which a circuit board body is disposed. The circuit board body has multiple positioning holes, and multiple positioning members are disposed on the bottom surface of the receiving cavity, passing through the positioning holes. The limiting members are disposed on the inner sidewall of the housing, abutting against the top surface of the circuit board body in a third direction. The support member abuts against the bottom surface of the circuit board body in a third direction. This application achieves limiting of the circuit board body in the first and second directions by the positioning members passing through the positioning holes, and achieves limiting in the third direction by the limiting members abutting against the top surface of the circuit board body and the support member abutting against the bottom surface of the circuit board body. This effectively prevents the circuit board body from displacing due to mechanical vibration, temperature changes, or external impacts, thereby improving detection accuracy and system reliability.

Description

Technical Field

[0001] This application relates to the field of sensor installation, and more particularly to a sensor device and a robot. Background Technology

[0002] Hall effect sensors, as magnetic sensors based on the Hall effect, are typically integrated onto circuit boards and are widely used in industrial automation, automotive electronics, and consumer electronics to detect signals such as position, speed, or counting. Traditional Hall sensors usually encapsulate the Hall element within a housing using a cover plate, and signal processing and output are handled by the circuit board. However, in practical use, factors such as mechanical vibration, temperature changes, or external impacts can cause slight displacement or loosening of the circuit board within the housing, leading to changes in the relative position between the Hall element and the magnetic field being measured. This displacement directly affects the detection accuracy of the magnetic field signal, thus impacting the reliability and stability of the entire sensor system. Utility Model Content

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a sensor device and a robot.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: This application provides: A sensor device having three perpendicular directions: a first direction, a second direction, and a third direction, comprising: The outer casing has a receiving cavity, and a circuit board body is disposed inside the receiving cavity. The circuit board body is provided with multiple positioning holes. Positioning elements, a plurality of the positioning elements are disposed on the bottom surface of the receiving cavity, the positioning elements are inserted through the positioning holes, and are used to limit the circuit board body in the first direction and the second direction; A limiting member is disposed on the inner sidewall of the housing, and the limiting member abuts against the top surface of the circuit board body in the third direction; A support member abuts against the bottom surface of the circuit board body along the third direction.

[0005] Furthermore, a plurality of the support members are disposed on the bottom surface of the accommodating cavity, the support members are located on one side of the limiting member along the first direction, and the distance between the support members and the limiting member is the thickness of the circuit board body; The plurality of the positioning elements are asymmetrically distributed in the second direction.

[0006] Furthermore, the cavity is filled with encapsulating adhesive, the top surface of which is flush with the top surface of the outer shell 100 on the side plate, and the end of the positioning member has a beveled guide surface.

[0007] Furthermore, the outer shell includes a bottom plate, and a second side plate and a fourth side plate are respectively provided at both ends of the bottom plate along the first direction, with the second side plate and the fourth side plate being disposed opposite to each other. A first side plate and a third side plate are respectively provided at both ends of the bottom plate along the second direction, with the first side plate and the third side plate being disposed opposite to each other. The bottom plate, the first side plate, the second side plate, the third side plate, and the fourth side plate surround to form the accommodating cavity. The positioning member and the support member are both provided on the side of the bottom plate along the third direction. The support member connects the side of the positioning member and the inner wall of the accommodating cavity.

[0008] Furthermore, the fourth side plate includes a connecting plate connected to the bottom plate, the first side plate, and the third side plate. The connecting plate has a protrusion on its side facing away from the accommodating cavity along the first direction. The protrusion has a through hole along the first direction that passes through it and communicates with the accommodating cavity.

[0009] Furthermore, the limiting member includes at least one first locking block disposed on the side of the first side plate facing the third side plate, and at least one second locking block disposed on the side of the third side plate facing the first side plate, wherein both the first locking block and the second locking block abut against the top surface of the circuit board body.

[0010] Furthermore, the first card block and the second card block are offset along the first direction.

[0011] Furthermore, the base plate is provided with a mounting post, the mounting post is provided with a mounting hole through it and the base plate along the third direction, and the mounting hole is provided with an inclined surface at the end away from the receiving cavity; The mounting post is located between the circuit board body and the wire hole; Along the first direction, the through hole can be projected onto the mounting post.

[0012] Furthermore, a marking pattern is provided on the side of the base plate opposite to the receiving cavity.

[0013] This application also provides a robot, which includes: The main body has a mounting position; The sensor device described in any one of the preceding statements is disposed at the mounting position.

[0014] This application achieves the limitation of the circuit board body in the first and second directions by using a positioning member inserted through the positioning hole, and achieves the limitation in the third direction by using the limiting member to abut against the top surface of the circuit board body and the support member to abut against the bottom surface of the circuit board body. This effectively prevents the circuit board body from shifting due to mechanical vibration, temperature change or external impact, ensures the relative position stability between the Hall sensor and the magnetic field to be measured, and improves the detection accuracy and system reliability.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This diagram shows an overall schematic of the housing and circuit board body of this application in their assembled state; Figure 2 This shows a schematic diagram of the overall structure of the casing from a first-view perspective. Figure 3 This shows a schematic diagram of the casing structure from a second perspective. Figure 4 This shows a schematic diagram of the third-view structure of the casing of this application; Figure 5 A top view of the casing of this application is shown; Figure 6 A schematic cross-sectional view of the outer casing of this application is shown; Figure 7 A schematic diagram of the asymmetrical arrangement of multiple positioning elements in this application is shown.

[0018] Explanation of key component symbols: 100 - Outer shell; 101 - Receiving cavity; 110 - Base plate; 120 - First side plate; 130 - Second side plate; 140 - Third side plate; 150 - Fourth side plate; 151 - Connecting plate; 152 - Protrusion; 1521 - Wire hole; 200 - Positioning component; 300 - Limiting component; 310 - First locking block; 320 - Second locking block; 400 - Support component; 500 - Mounting post; 510 - Mounting hole; 501 - Bevel; 600 - Marking pattern; 1000 - Circuit board body; 1001 - Positioning hole; X - First direction; Y - Second direction; Z - Third direction. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0024] This application provides a sensor device having a first direction X, a second direction Y, and a third direction Z that are perpendicular to each other. The sensor device includes a housing 100 and a positioning member 200. The housing 100 has a receiving cavity 101, and a circuit board body 1000 is disposed in the receiving cavity 101. The circuit board body 1000 is provided with a plurality of positioning holes 1001. A Hall sensor is disposed on the circuit board body 1000, that is, the Hall sensor moves together with the circuit board body 1000. The sensor device also includes a limiting member 300 and a supporting member 400. The positioning member 200, the limiting member 300, and the supporting member 400 enable the circuit board body 1000 to move and rotate in the first direction, the second direction, and the third direction, that is, to give the circuit board body 1000 six degrees of freedom, thereby limiting the position of the circuit board body 1000 and the Hall sensor, preventing the position of the circuit board body 1000 and the Hall sensor from moving and affecting the detection accuracy.

[0025] Specifically, multiple positioning members 200 are disposed on the bottom surface of the accommodating cavity 101, and the positioning members 200 pass through the positioning holes 1001 to limit the circuit board body 1000 in the first direction X and the second direction Y. The limiting member 300 is disposed on the inner side wall of the outer shell 100, and the limiting member 300 abuts against the top surface of the circuit board body 1000 along the third direction Z. The supporting member 400 abuts against the bottom surface of the circuit board body 1000 along the third direction Z.

[0026] Please refer to the figure. In this embodiment, the positioning member 200 is a cylinder. By passing through the positioning hole 1001, the positioning member 200 can limit the plane formed by the first direction X and the second direction Y of the circuit board body 1000. That is, the circuit board body 1000 cannot move along the first direction X and the second direction Y, and it also limits the circuit board body 1000 from rotating. Furthermore, the limiting member 300 and the supporting member 400 respectively abut and limit the top surface and bottom surface of the circuit board body 1000. That is, under the obstruction of the limiting member 300 and the supporting member 400, the circuit board body 1000 cannot move along the third direction. Therefore, with the positioning member 200 passing through the positioning hole 1001, the limiting member 300 abutting against the top surface of the circuit board body 1000, and the supporting member 400 abutting against and supporting the bottom surface of the circuit board body 1000, the six degrees of freedom of the circuit board body 1000 are limited, preventing the movement of the Hall sensor caused by the movement of the circuit board body 1000 from affecting the detection accuracy.

[0027] It is understood that by using the first locking block 310 to abut and limit the circuit board body 1000, the circuit board body 1000 is confined within the receiving cavity 101, preventing the circuit board body 1000 from leaving the receiving cavity 101. Therefore, the outer casing 100 of this application does not need a cover plate to confine the circuit board body 1000 within the receiving cavity 101.

[0028] In this embodiment, four positioning holes 1001 are evenly spaced on the circuit board body 1000. Correspondingly, four positioning members 200 should also be provided on the bottom surface of the receiving cavity 101. The four positioning members 200 extend into their corresponding positioning holes 1001. Furthermore, there are also four support members 400, which are evenly spaced on the bottom surface of the receiving cavity 101 and abut against the circuit board body 1000 to support the circuit board body 1000.

[0029] In this embodiment, multiple support members 400 are disposed on the bottom surface of the accommodating cavity 101. The support members 400 are located on the side of the limiting member 300 along the first direction X. The distance between the support members 400 and the limiting member 300 is the thickness of the circuit board body 1000.

[0030] like Figure 1 , Figure 2 , Figure 4 as well as Figure 5 As shown, there are multiple support members 400, and each support member 400 is fixedly disposed on the bottom surface of the receiving cavity 101. In order to press the limiting member 300 tightly against the surface of the circuit board body 1000, the close distance between the support member 400 and the limiting member 300 in the third direction Z is the thickness of the circuit board body 1000. Thus, when the support member 400 abuts against the bottom surface of the circuit board body 1000 and the limiting member 300 abuts against the upper surface of the circuit board body 1000, the circuit board body 1000 is limited in the third direction Z.

[0031] In this embodiment, the support member 400 and the limiting member 300 are misaligned along the first direction X.

[0032] For example, the cross-section of the support member 400 can be rectangular, circular, elliptical, oblong, etc., and the specific shape is not limited here.

[0033] In another embodiment, such as Figure 7 As shown, in order to ensure that the circuit board body 1000 is accurately installed into the receiving cavity, i.e. to prevent the circuit board body 1000 from being installed in reverse, the multiple positioning members 200 are arranged asymmetrically. Specifically, one of the 200s can be reduced. The circuit board body 1000 can only be installed in the correct installation direction. If the circuit board body 1000 is placed in the reverse direction, it cannot be installed. This achieves the foolproof function.

[0034] To achieve the foolproof function, multiple positioning elements 200 are asymmetrically distributed in the second direction Y. In one embodiment, such as... Figure 2 As shown, there are four positioning elements 200, two on the left and two on the right sides in the second direction Y, but they are different from those in the second direction Y. Figure 2The illustrated embodiment differs in that the two positioning elements 200 on each of the left and right sides are asymmetrically designed. In another embodiment, the number of positioning elements 200 on the left and right sides in the second direction Y is different; for example, see [reference needed]. Figure 7 Two positioning elements 200 are provided on the left side and one positioning element 200 is provided on the right side in the second direction Y. It should be understood that the number and position of the positioning holes 1001 on the circuit board body 1000 should have a one-to-one correspondence with the positioning elements 200 when the circuit board body 1000 is uniquely and correctly installed.

[0035] In some embodiments, the accommodating cavity 101 is filled with encapsulating adhesive. The top surface of the encapsulating adhesive is flush with the top surface of the housing 100, and the end of the positioning member 200 has a beveled guide surface.

[0036] In this embodiment, the circuit board body 1000 is confined within the accommodating cavity 101 by the cooperation of the positioning member 200, the limiting member 300, and the supporting member 400. In order to further limit the position of the circuit board body 1000, after the circuit board body 1000 is installed in the accommodating cavity 101, encapsulating glue is poured into the accommodating cavity 101. The encapsulating glue covers the entire circuit board body 1000, which not only limits its position, but also effectively prevents arcing, short circuits, leakage and other phenomena between circuits and between component pins due to excessive distance. In addition, it can isolate moisture in the air and prevent short circuits caused by oxidation of metal parts.

[0037] For example, the encapsulating adhesive can be made of epoxy resin, polyurethane, or other materials. In practice, other materials can be selected according to the actual working conditions. No specific restrictions are made here.

[0038] Please see Figure 2 , Figure 4 , Figure 5 as well as Figure 6 As shown, in order to facilitate the smooth insertion of the positioning member 200 into the positioning hole 1001, an inclined guide surface is provided at the upper end of the positioning member 200 to reduce the diameter of the end of the positioning member 200 to a certain extent, thereby achieving a guiding effect and making it easier for the positioning member 200 to be inserted into the positioning hole 1001.

[0039] In some embodiments, the housing 100 includes a base plate 110. A second side plate 130 and a fourth side plate 150 are respectively disposed at both ends of the base plate 110 along a first direction X, with the second side plate 130 and the fourth side plate 150 facing each other. A first side plate 120 and a third side plate 140 are respectively disposed at both ends of the base plate 110 along a second direction Y, with the first side plate 120 and the third side plate 140 facing each other. The base plate 110, the first side plate 120, the second side plate 130, the third side plate 140, and the fourth side plate 150 surround to form a receiving cavity 101. A positioning member 200 and a support member 400 are both disposed on the side of the base plate 110 along a third direction Z. The support member 400 connects the side of the positioning member 200 and the inner wall of the receiving cavity 101.

[0040] Please see Figure 2 , Figure 4 , Figure 5 As shown, the entire outer shell 100 is rectangular. The outer shell 100 consists of a base plate 110 and four side plates disposed on the four sides of the base plate 110. The four side plates cooperate with the base plate 110 to form a receiving cavity 101, and the four sides are flush with the upper surface along the third direction Z, that is, the upper surfaces of the first side plate 120, the second side plate 130, the third side plate 140 and the fourth side plate 150 are flush. In this embodiment, the positioning member 200 and the support member 400 are both fixedly disposed on the upper surface of the base plate 110. In this embodiment, the outer shell 100, the positioning member 200, the limiting member 300 and the support member 400 can be integrally injection molded to ensure the connection strength of each component.

[0041] like Figure 2 , Figure 4 and Figure 5 As shown, since the positioning member 200 is a cylinder and the contact area with the upper surface of the base plate 110 is small, in order to prevent the connection between the positioning member 200 and the upper surface of the base plate 110 from breaking, the support member 400 is connected to the circumferential surface of the positioning member 200, and the support member 400 is also connected to the inner sidewall of the accommodating cavity 101, thereby increasing the connection strength between the positioning member 200 and the base plate 110 and preventing the positioning member 200 from breaking relative to the base plate 110.

[0042] In some embodiments, the fourth side plate 150 includes a connecting plate 151 connected to the bottom plate 110, the first side plate 120 and the third side plate 140. The connecting plate 151 has a protrusion 152 on its side facing away from the accommodating cavity 101 along the first direction X. The protrusion 152 has a wire hole 1521 that passes through it and communicates with the accommodating cavity 101 along the first direction X.

[0043] Please see Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, in order to enable the circuit board body 1000 to connect to an external power source and provide power to the circuit board body 1000 through the external power source, the fourth side plate 150 is composed of a connecting plate 151 and a protrusion 152 protruding outward from the accommodating cavity 101 along the first direction. In order to enable the wire to enter the accommodating cavity 101 and connect to the circuit board body 1000, a through hole 1521 is provided on the protrusion 152 along the first direction, and the through hole 1521 is connected to the accommodating cavity 101.

[0044] To prevent adhesive from overflowing from the gap between the wire and the inner wall of the through hole 1521 during encapsulation, in this embodiment, the wire and the through hole 1521 are interference-fitted to prevent adhesive from overflowing from the through hole 1521.

[0045] It is understandable that, since the protrusion 152 protrudes outward from the side of the connecting plate 151, when the entire housing 100 is installed, the protrusion 152 can be adapted to its corresponding mounting groove, thereby achieving the positioning of the entire housing 100 through the protrusion 152.

[0046] In some embodiments, the limiting member 300 includes at least one first locking block 310 disposed on the side of the first side plate 120 facing the third side plate 140, and at least one second locking block 320 disposed on the side of the third side plate 140 facing the first side plate 120, wherein the first locking block 310 and the second locking block 320 abut against the top surface of the circuit board body 1000.

[0047] Please see Figure 1 , Figure 2 , Figure 4 as well as Figure 5 As shown, in order to fully abut and limit the circuit board body 1000, a first locking block 310 is provided on the inner side wall of the first side plate 120, and a second locking block 320 is provided on the inner side wall of the third side plate 140, thereby abutting and limiting both sides of the circuit board body 1000. Furthermore, the first locking block 310 and the second locking block 320 are located on the same plane as the abutting surface of the circuit board body 1000, preventing the circuit board body 1000 from being unable to abut and limit if the first locking block 310 and the second locking block 320 are not on the same plane.

[0048] For example, a matching locking block can also be provided on the inner side of the second side plate 130 to limit the other side of the circuit board body 1000.

[0049] In some embodiments, the first card block 310 and the second card block 320 are offset along a first direction X.

[0050] Please see Figure 5As shown, in order to facilitate the insertion of the circuit board body 1000 into the area between the limiting member 300 and the support member 400, the first locking block 310 and the second locking block 320 are not in the same position along the first direction. During installation, the side of the circuit board body 1000 at the position of the first locking block 310 can be pressed to cause a certain deformation. At the position of the circuit board body 1000 located on the side of the third side plate 140 at the position of the first locking block 310, there is no obstruction. Therefore, the circuit board body 1000 at this position can more easily extend into the area between the first locking block 310 and the support member 400. Similarly, the side of the circuit board body 1000 at the position of the second locking block 320 can be pressed to cause a certain deformation. The side of the circuit board body 1000 can more easily extend into the area between the second locking block 320 and the support member 400, which facilitates locking and limiting.

[0051] In some embodiments, a mounting post 500 is provided on the base plate 110. The mounting post 500 has a mounting hole 510 extending through it and the base plate 110 along a third direction Z. The mounting hole 510 has a bevel 501 at one end away from the receiving cavity 101. The mounting post 500 is located between the circuit board body 1000 and the wire hole 1521. Along the first direction X, the wire hole 1521 can be projected onto the mounting post 500.

[0052] Please see Figure 2 , Figure 3 as well as Figure 6 As shown, in order to fix the entire housing 100 in the target position, screws can be used to install it through the mounting holes 510. In order to ensure that the side of the base plate 110 away from the receiving cavity 101 is flush, that is, to prevent the screw end from protruding from the side of the base plate 110 and affecting other components, a bevel 501 is provided at the end of the mounting hole 510, so that the screw can be completely recessed into the bevel 501.

[0053] In some embodiments, a marking pattern 600 is provided on the side of the base plate 110 opposite to the receiving cavity 101.

[0054] Please see Figure 3 As shown, when the housing 100 is installed at the target position, in order to know the position of the Hall sensor, a marking pattern 600 needs to be set on the side of the base plate 110 away from the receiving cavity 101. That is, the position of the marking pattern 600 is the position of the Hall sensor on the circuit board body 1000, so that the position of the Hall sensor can be quickly found.

[0055] In this embodiment, the specific shape of the marking pattern 600 is not limited and can be designed and used according to actual needs.

[0056] This embodiment also provides a robot, including a main body and a sensor device as described above, wherein the main body has a mounting position and the sensor device is disposed in the mounting position.

[0057] For example, the robot can be a yard robot. In other fields, the device for circuit board mounting can also be used in automobiles, industrial equipment, etc., without being limited here.

[0058] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0059] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A sensor device having a first direction (X), a second direction (Y), and a third direction (Z) that are perpendicular to each other, characterized in that, include: The outer casing (100) has a receiving cavity (101) and a circuit board body (1000) is disposed in the receiving cavity (101). The circuit board body (1000) is provided with a plurality of positioning holes (1001). Positioning element (200), a plurality of positioning elements (200) are disposed on the bottom surface of the receiving cavity (101), the positioning element (200) passes through the positioning hole (1001) and is used to limit the first direction (X) and the second direction (Y) of the circuit board body (1000); A limiting member (300) is disposed on the inner sidewall of the housing (100), and the limiting member (300) abuts against the top surface of the circuit board body (1000) along the third direction (Z); A support member (400) abuts against the bottom surface of the circuit board body (1000) along the third direction (Z).

2. The sensor device according to claim 1, characterized in that, Multiple support members (400) are disposed on the bottom surface of the accommodating cavity (101), the support members (400) are located on the side of the limiting member (300) along the first direction (X), and the distance between the support members (400) and the limiting member (300) is the thickness of the circuit board body (1000); The plurality of the positioning elements (200) are asymmetrically distributed in the second direction (Y).

3. The sensor device according to claim 1, characterized in that, The cavity (101) is filled with encapsulating adhesive, and the top surface of the encapsulating adhesive is flush with the top surface of the outer shell (100). The end of the positioning element (200) has a beveled guide surface.

4. The sensor device according to claim 1, characterized in that, The outer shell (100) includes a base plate (110), on which a second side plate (130) and a fourth side plate (150) are respectively provided at both ends along the first direction (X), and the second side plate (130) and the fourth side plate (150) are arranged opposite to each other. On which a first side plate (120) and a third side plate (140) are respectively provided at both ends along the second direction (Y), and the first side plate (120) and the third side plate (140) are arranged opposite to each other. The base plate (110), the first side plate (120), the second side plate (130), the third side plate (140) and the fourth side plate (150) surround to form the accommodating cavity (101). The positioning member (200) and the support member (400) are both provided on the side of the base plate (110) along the third direction (Z). The support (400) connects the side of the positioning member (200) and the inner wall of the accommodating cavity (101).

5. The sensor device according to claim 4, characterized in that, The fourth side plate (150) includes a connecting plate (151) connected to the bottom plate (110), the first side plate (120) and the third side plate (140). The connecting plate (151) has a protrusion (152) on the side facing away from the accommodating cavity (101) along the first direction (X). The protrusion (152) has a wire hole (1521) that passes through it and communicates with the accommodating cavity (101) along the first direction (X).

6. The sensor device according to claim 5, characterized in that, The limiting member (300) includes at least one first locking block (310) disposed on the side of the first side plate (120) facing the third side plate (140), and at least one second locking block (320) disposed on the side of the third side plate (140) facing the first side plate (120), both the first locking block (310) and the second locking block (320) abutting against the top surface of the circuit board body (1000).

7. The sensor device according to claim 6, characterized in that, The first card block (310) and the second card block (320) are offset along the first direction (X).

8. The sensor device according to claim 5, characterized in that, The base plate (110) is provided with a mounting post (500), and the mounting post (500) is provided with a mounting hole (510) through it and the base plate (110) along the third direction (Z), and the mounting hole (510) is provided with a slope (501) at the end away from the receiving cavity (101). The mounting post (500) is located between the circuit board body (1000) and the wire hole (1521); Along the first direction (X), the through hole (1521) can be projected onto the mounting post (500).

9. The sensor device according to claim 4, characterized in that, The bottom plate (110) has a marking pattern (600) on the side opposite to the receiving cavity (101).

10. A robot, characterized in that, include: The main body has a mounting position; The sensor device according to any one of claims 1 to 9, wherein the sensor device is disposed at the mounting position.

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