Sensors and robots

Abstract

The application belongs to the technical field of torque detection devices, and provides a sensor and a robot. The sensor comprises a mounting structure, an elastic sensor and a collector. The elastic sensor is in abutment with the mounting structure at one end along the elastic force direction of the elastic sensor, and the other end is a free end. The collector is electrically connected with the elastic sensor, and the collector is used for collecting the inductance change amount of the elastic sensor. The sensor provided by the application has lower cost and better installation adaptability.

Description

Technical Field

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

[0002] Robot sensors are widely used in industrial robots, collaborative robots, and service robots.

[0003] Sensors can be torque sensors, position and angle sensors, distance sensors, etc. Taking torque sensors as an example, they are used to detect the torque borne by robot joints or end effectors in real time. By converting physical torque into electrical signals, torque sensors can provide force feedback control capabilities to robots through precise torque sensing, enabling them to operate smoothly in tasks requiring precise force control, such as precision assembly, polishing, and human-robot collaboration. Over time, torque sensors may loosen at the mounting connection due to vibration, wear, and other factors, affecting the accuracy of detection. Related technologies can incorporate adapters on the sensor, mounting infrared sensing mechanisms on these adapters. The infrared sensing mechanism's probe monitors the connection, promptly detecting any loosening. However, infrared sensing structures and adapters are costly, and adding an infrared sensing mechanism increases the sensor's size, limiting its adaptability in compact spaces.

[0004] Among related technologies, sensors are expensive and have poor installation adaptability. Utility Model Content

[0005] This application provides a sensor and a robot, wherein the sensor has low cost and good installation adaptability.

[0006] This application provides a sensor, including a mounting structure, an elastic sensor, and a data acquisition device. One end of the elastic sensor abuts against the mounting structure along its elastic force direction, and the other end is a free end. The data acquisition device is electrically connected to the elastic sensor and is used to acquire the change in inductance of the elastic sensor.

[0007] In one possible implementation, the sensor provided in this application has a data acquisition unit used to convert changes in inductance into elastic deformation of the elastic sensor.

[0008] In one possible implementation, the sensor provided in this application includes an elastic coil with a first end and a second end opposite to each other along the direction of elastic force. The first end abuts against the mounting structure, and the second end is a free end. The elastic coil is electrically connected to the data acquisition unit.

[0009] In one possible implementation, the sensor provided in this application has a data acquisition unit disposed within an installation structure. The data acquisition unit is equipped with an inductance-to-digital converter, which is used to convert the change in inductance of the elastic coil into the elastic deformation of the elastic coil.

[0010] In one possible implementation, the sensor provided in this application, the elastic sensor, further includes an end cap connected to a second end of the elastic coil; the end cap is used to abut against a mounting surface.

[0011] In one possible implementation, the sensor provided in this application has a blind hole in its mounting structure, at least part of the elastic coil is located in the blind hole, the first end of the elastic coil is connected to the bottom wall of the blind hole, and the second end faces the opening end face of the blind hole.

[0012] In one possible implementation, the sensor provided in this application further includes a wire groove in its mounting structure, which communicates with a blind hole; the elastic sensor further includes a first lead and a second lead, which are threaded through the wire groove; the first lead is electrically connected to a first end and a data collector, and the second lead is electrically connected to a second end and a data collector.

[0013] In one possible implementation, the sensor provided in this application has a mounting structure with multiple spaced mounting portions for connecting to a mounting surface; there are multiple blind holes, with a blind hole near each mounting portion, and an elastic sensor is disposed in each blind hole.

[0014] In one possible implementation, the sensor provided in this application has an installation structure including a base and a body connected to the base, the body and the base forming a receiving cavity, and the data collector located in the receiving cavity.

[0015] In one possible implementation, the sensor provided in this application further includes a stress sensor, which is disposed in the receiving cavity and electrically connected to the data acquisition unit.

[0016] In one possible implementation, the sensor provided in this application includes a fixing part, a strain beam, and a supporting part, with the supporting part and the fixing part connected to both ends of the strain beam; the fixing part is connected to a base.

[0017] The load-bearing part is used to connect with the force-applying component, and the stress sensor is installed on the strain beam.

[0018] In one possible implementation, the sensor provided in this application further includes a cover, which is disposed on the side of the support portion away from the base, is connected to the support portion, and is used to connect with the force-applying component.

[0019] This application also provides a robot, including a mounting surface, a force-applying component, and the aforementioned sensor, wherein the sensor is connected between the force-applying component and the mounting surface, and the free end of the elastic sensor abuts against the mounting surface.

[0020] The sensor provided in this application comprises an installation structure, a data acquisition unit, and an elastic sensor, with the data acquisition unit connected to the installation structure. One end of the elastic sensor abuts against the installation structure, while the other end is a free end, adapted to abut against the mounting surface. The elastic sensor is electrically connected to the data acquisition unit, and its inductance changes with the pressure it receives. The data acquisition unit collects this change in inductance. When the inductance of the elastic sensor changes, it indicates a change in the pressure applied to the sensor by the installation structure and mounting surface. This, in turn, indicates a change in the distance between the installation structure and the mounting surface, thus determining whether the sensor installation has become loose. Simply adding an elastic sensor to the sensor allows for real-time detection of installation looseness, resulting in a lower sensor cost. Furthermore, the elastic sensor does not alter the external dimensions of the installation structure, providing good installation adaptability. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the robot provided in an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of the sensor structure provided in the embodiments of this application;

[0024] Figure 3 This is a structural schematic diagram of the sensor provided in an embodiment of this application from another angle;

[0025] Figure 4 An exploded view of the sensor provided in the embodiments of this application;

[0026] Figure 5 A cross-sectional schematic diagram of the sensor provided in the embodiments of this application;

[0027] Figure 6 This is a schematic diagram of the working state of a sensor provided in an embodiment of this application;

[0028] Figure 7 A schematic diagram illustrating another working state of the sensor provided in this application embodiment;

[0029] Figure 8 Another exploded view of the sensor provided in the embodiments of this application;

[0030] Figure 9 for Figure 8 Another perspective illustration;

[0031] Figure 10 This is a schematic diagram of the structure of the sensor body provided in the embodiments of this application;

[0032] Figure 11 This is a schematic diagram of the structure of the base in the sensor provided in the embodiment of this application;

[0033] Figure 12 This is a schematic diagram of the electrical connection between the elastic coil and the data acquisition unit in the sensor provided in the embodiment of this application.

[0034] Explanation of reference numerals in the attached figures:

[0035] 10-Robot;

[0036] 100-Sensor;

[0037] 110 - Mounting structure; 111 - Receiving cavity;

[0038] 112-Blind hole; 1121-Bottom wall; 1122-Opening end face; 1123-First hole section; 1124-Second hole section;

[0039] 113-Base; 1131-First mounting hole; 1132-Stud;

[0040] 114-Body; 1141-Second mounting hole; 1142-Stress sensor; 1143-Fixing part; 1144-Strain beam; 1145-Bearing part; 1145a-Fifth mounting hole;

[0041] 115 - Cable tray;

[0042] 116 - Mounting section; 1161 - Eighth mounting hole; 1161a - Third hole section; 1161b - Fourth hole section;

[0043] 120 - Data collector; 121 - Third mounting hole; 122 - Inductive digital converter;

[0044] 130 - Elastic sensor; 131 - Elastic coil; 131a - First end; 131b - Second end; 132 - First lead; 133 - Second lead; 134 - Data acquisition terminal;

[0045] 140 - Cover; 141 - Fourth mounting hole; 142 - Sixth mounting hole;

[0046] 200 - Mounting surface;

[0047] 300 - Force-applying component;

[0048] 400-frame;

[0049] 500-robotic arm;

[0050] 510 - Joint; 510a - First joint; 510b - Second joint;

[0051] 520 - Link; 520a - First Link; 520b - Second Link;

[0052] 600 - Execution Item;

[0053] C - Circumferential; L - Axial; R - Radial. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or 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.

[0056] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this application.

[0057] The terms "first," "second," and "third" (if any) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein.

[0058] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such as a process, method, system, product, or maintenance tool that includes a series of steps or units, not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or maintenance tool.

[0059] Robot sensors are widely used in industrial robots, collaborative robots, and service robots.

[0060] Sensors can be torque sensors, position and angle sensors, distance sensors, etc. Position and angle sensors are used to determine the position and movement angle of each joint of the robot. Distance sensors are used to detect the distance between the robot and other devices.

[0061] Taking a torque sensor as an example, a torque sensor is used to detect the torque exerted on a robot's joints or end effector in real time. By converting physical torque into an electrical signal, the torque sensor can provide force feedback control capabilities to the robot through precise torque sensing, enabling it to perform compliant operations in tasks requiring precise force control, such as precision assembly, polishing, and human-robot collaboration.

[0062] For example, in precision assembly fields such as electronic component assembly or medical device manufacturing, robots can use torque sensors to detect the forces applied by the robot, thereby precisely controlling the force applied and preventing damage to precision components during assembly. During grinding and polishing, robots can use torque sensors to detect changes in the workpiece surface condition, dynamically adjusting the torque to ensure processing quality. In human-robot collaboration scenarios, torque sensors can monitor contact forces in real time, preventing safety accidents caused by misoperation.

[0063] Over time, sensors may loosen at their mounting connections due to vibration, wear, and other factors, affecting detection accuracy. Related technologies can address this by incorporating an adapter (such as a connecting rod) onto the sensor, housing the infrared sensing mechanism. The infrared sensor's probe monitors the connection point, promptly detecting any loosening.

[0064] However, installing the infrared sensing mechanism requires adding a connecting rod to the outside of the sensor, which increases the overall size of the sensor. The connecting rod may also be incompatible with the robot's dimensions or interface, limiting the sensor's versatility and adaptability for installation in compact spaces. Furthermore, the infrared sensing mechanism and its associated circuitry require additional power supply and signal processing modules, increasing the sensor's cost.

[0065] Among related technologies, sensors are expensive and have poor installation adaptability.

[0066] Based on this, embodiments of this application provide a sensor and a robot, wherein the sensor has low cost and good installation adaptability.

[0067] Figure 1 This is a schematic diagram of the robot provided in an embodiment of this application.

[0068] See Figure 1 As shown, the robot 10 includes a sensor 100, a mounting surface 200, and a force-applying component 300. The sensor 100 is connected between the force-applying component 300 and the mounting surface 200. That is, one end of the sensor 100 is connected to the mounting surface 200, and the other end is connected to the force-applying component 300.

[0069] The robot 10 also includes a base 400, a robotic arm 500, and an actuator 600. One end of the robotic arm 500 is connected to the base 400, and the other end is connected to the actuator 600.

[0070] The base 400 is the base of the robot 10, and it supports other components within the robot 10. The base 400 can be mounted on a bottom surface or a worktable, providing stable support for the robotic arm 500. The actuator 600 can be, for example, a gripper, electric screwdriver, welding torch, or cutting tool. The robotic arm 500 drives the actuator 600 to perform tasks such as assembly, welding, grinding, handling, and machining.

[0071] The robotic arm 500 includes a joint 510 and a link 520. The joint 510 can be a rotary joint or a translational joint, providing degrees of freedom and enabling the robotic arm 500 to move flexibly. The link 520 is connected to the joint 510 and can transmit motion and force. The cooperation between the link 520 and the joint 510 allows the robotic arm 500 to move flexibly in three-dimensional space.

[0072] The robotic arm 500 may include a joint 510 and a link 520. The robotic arm 500 may also include multiple joints 510 and multiple links 520, with the multiple joints 510 and multiple links 520 alternately arranged and connected sequentially.

[0073] exist Figure 1The diagram schematically shows two joints 510 and two links 520. The two joints 510 are designated as first joint 510a and second joint 510b, and their structures can be identical or different. The two links 520 are designated as first link 520a and second link 520b, and their lengths can be the same or different. The first link 520a, first joint 510a, second link 520b, and second joint 510b are connected sequentially. The first link 520a is connected to the base 400, and the second joint 510b is connected to the actuator 600. The more joints 510 in the robotic arm 500, the more flexible its operation.

[0074] In this embodiment, the robot 10 further includes a sensor 100, which can be connected between the joint 510 and the link 520, or between the joint 510 and the actuator 600. In the following description, the sensor 100 will be described using a torque sensor as an example.

[0075] For example, in Figure 1 In the embodiment shown, a sensor 100 is connected between the first link 520a and the first joint 510a, and a sensor 100 is connected between the second joint 510b and the actuator 600.

[0076] Specifically, for the sensor 100 connecting the first link 520a and the first joint 510a, the side of the first link 520a facing the sensor 100 is the mounting surface 200, and the first joint 510a is the force-applying component 300. The torque between the first joint 510a and the first link 520a can be detected by the sensor 100. Similarly, for the sensor 100 connecting the second joint 510b and the actuator 600, the side of the second joint 510b facing the sensor 100 is the mounting surface 200, and the actuator 600 is the force-applying component 300. The torque between the actuator 600 and the second joint 510b can be detected by the sensor 100.

[0077] The specific structure of the sensor 100 provided in the embodiments of this application will be described below.

[0078] Figure 2 This is a schematic diagram of the sensor structure provided in an embodiment of this application. Figure 3 This is a structural schematic diagram of the sensor provided in an embodiment of this application from another angle. Figure 4 This is an exploded view of the sensor provided in an embodiment of this application. Figure 5 This is a cross-sectional schematic diagram of the sensor provided in an embodiment of this application. Figure 6 This is a schematic diagram illustrating one working state of the sensor provided in an embodiment of this application. Figure 7This is a schematic diagram of another working state of the sensor provided in an embodiment of this application.

[0079] See Figures 2 to 7 As shown, sensor 100 includes a mounting structure 110, a data acquisition unit 120, and an elastic sensor 130. One end of the elastic sensor 130 abuts against the mounting structure 110 along its elastic force direction, while the other end is a free end. The free end of the elastic sensor 130 is adapted to abut against the mounting surface 200. The end of the mounting structure 110 facing the elastic sensor 130 is adapted to connect to the mounting surface 200. The data acquisition unit 120 is electrically connected to the elastic sensor 130 and is used to acquire the change in inductance of the elastic sensor 130.

[0080] In one possible implementation, the mounting structure 110 has a receiving cavity 111. The collector 120 is located in the receiving cavity 111 and connected to the mounting structure 110. A blind hole 112 is provided in the mounting structure 110, and an elastic sensor 130 is located in the blind hole 112. One end of the elastic sensor 130 along its elastic force direction is connected to the bottom wall 1121 of the blind hole 112, and the free end of the elastic sensor 130 can extend out of the opening end face 1122 of the blind hole 112. The opening end face 1122 of the blind hole 112 faces the mounting surface 200, and the portion of the elastic sensor 130 extending out of the opening end face 1122 of the blind hole 112 is used to abut against the mounting surface 200.

[0081] The specific structure of sensor 100 and the method by which sensor 100 detects torque will be explained below.

[0082] Specifically, the mounting structure 110 can be rectangular or cylindrical in shape. Figures 2 to 5 In the diagram, the mounting structure 110 is schematically shown as a cylinder. The mounting structure 110 has an axial direction L, a circumferential direction C, and a radial direction R. The sensor 100 is connected between the mounting surface 200 and the force-applying component 300 along its axial direction L.

[0083] Figure 8 This is another exploded view of the sensor provided in an embodiment of this application. Figure 9 for Figure 8 Another perspective diagram.

[0084] See Figure 4 , Figure 5 , Figure 8 and Figure 9 As shown, the mounting structure 110 may include a base 113 and a body 114 connected to the base 113. The body 114 and the base 113 form a receiving cavity 111. The collector 120 is located in the receiving cavity 111 and can be connected to the base 113. The opening end face 1122 of the blind hole 112 is located on one side of the base 113.

[0085] Figure 10 This is a schematic diagram of the structure of the sensor body provided in the embodiments of this application. Figure 11 This is a schematic diagram of the base of the sensor provided in an embodiment of this application. Figure 10 The structure of the body 114 facing the base 113 is shown.

[0086] See Figures 8 to 10 As shown, the base 113 can be a disc-shaped structure, and the body 114 can be a cylindrical structure. The base 113 and the body 114 are arranged along the axial direction L. The edge of the base 113 is provided with a plurality of first mounting holes 1131 spaced apart, and the body 114 is provided with second mounting holes 1141 corresponding to the first mounting holes 1131. Fasteners are inserted into the first mounting holes 1131 and the second mounting holes 1141 to connect the body 114 to the base 113. The structure enclosed by the base 113 and the body 114 has a receiving cavity 111. When the mounting structure 110 is connected to the mounting surface 200, the side of the base 113 facing away from the body 114 faces the mounting surface 200.

[0087] Please continue reading Figure 8 and Figure 9 As shown, the collector 120 can be in the form of a circuit board and is located in the receiving cavity 111. A stud 1132 with internal threads can be provided on the base 113. The collector 120 is provided with a third mounting hole 121. Fasteners are inserted into the third mounting hole 121 and the stud 1132 to connect the collector 120 to the base 113.

[0088] Please continue reading Figure 8 and Figure 10 As shown, the main body 114 has a stress sensor 1142, which is disposed in the receiving cavity 111 and is electrically connected to the data acquisition device 120.

[0089] The stress sensor 1142 can acquire strain data on the body 114, and the strain data is transmitted to the data acquisition unit 120, which converts it into torque or pressure values.

[0090] Please continue reading Figure 8 and Figure 10 As shown, in one possible embodiment, the body 114 includes a fixing part 1143, a strain beam 1144, and a supporting part 1145. The supporting part 1145 and the fixing part 1143 are connected to both ends of the strain beam 1144. The fixing part 1143 is connected to the base 113, and a blind hole 112 is provided on the fixing part 1143. The supporting part 1145 is used to connect to the force-applying component 300, and the stress sensor 1142 is provided on the strain beam 1144.

[0091] The fixing part 1143 is the outer wall of a cylindrical structure, and has a certain thickness along the radial direction R. The second mounting hole 1141 can be provided on the fixing part 1143. The supporting part 1145 can be a columnar structure. In this embodiment, the supporting part 1145 and the fixing part 1143 are coaxially arranged. The body 114 also includes a plurality of strain beams 1144, each strain beam 1144 extending radially R. One end of each strain beam 1144 is connected to the supporting part 1145, and the other end is connected to the fixing part 1143. The strain beams 1144 can be made of a material with a certain deformation. Stress sensors 1142 are provided on the strain beams 1144, and one or more stress sensors 1142 can be provided on each strain beam 1144.

[0092] The bearing portion 1145 is connected to the force-applying component 300. When the bearing portion 1145 is subjected to pressure from the force-applying component 300, the bearing portion 1145 moves along the axial direction L towards the base 113, or one side of the bearing portion 1145 tilts towards the base 113. The fixing portion 1143 is connected to the base 113 and remains stationary. This causes the strain beam 1144 connected to the bearing portion 1145 to deform. The stress sensor 1142 located on the strain beam 1144 can detect the deformation of the strain beam 1144 and convert the deformation of the strain beam 1144 into a first electrical signal. The stress sensor 1142 is electrically connected to the data acquisition unit 120 and transmits the first electrical signal to the data acquisition unit 120. The data acquisition unit 120 can calculate the torque based on the first electrical signal, thereby enabling the robot 10 to achieve compliant operation in tasks requiring precise force control.

[0093] Please continue reading Figure 2 , Figure 4 , Figure 5 , Figure 8 and Figure 9 As shown, in one possible implementation, the sensor 100 further includes a cover 140, which covers the side of the support portion 1145 away from the base 113. The cover 140 is connected to the support portion 1145 and is used to connect to the force-applying component 300.

[0094] The cover 140 covers the receiving cavity 111 to prevent dust or foreign objects from entering the receiving cavity 111. The cover 140 has a plurality of fourth mounting holes 141, and the supporting part 1145 has fifth mounting holes 1145a corresponding to the fourth mounting holes 141. Fasteners are inserted into the fourth mounting holes 141 and the fifth mounting holes 1145a to connect the cover 140 and the supporting part 1145.

[0095] The cover 140 also has a sixth mounting hole 142, and the force-applying component 300 can be provided with a seventh mounting hole (not shown in the figure). Fasteners are inserted into the sixth mounting hole 142 and the seventh mounting hole to connect the cover 140 and the force-applying component 300.

[0096] The force applied by the force-applying component 300 is transmitted to the bearing portion 1145 through the cover 140. The projected area of ​​the cover 140 along the axial direction L is larger than the projected area of ​​the bearing portion 1145 along the axial direction L. Therefore, the cover 140 can not only prevent dust or foreign objects from entering the receiving cavity 111, but also has a larger contact area with the force-applying component 300, which allows for more comprehensive detection of the force applied by the force-applying component 300.

[0097] In one possible implementation, the elastic sensor 130 can be disposed between the mounting structure 110 and the mounting surface 200 and connected to other components in the robot 10. The elastic sensor 130 does not occupy space in the sensor 100 and does not increase the peripheral dimensions of the sensor 100.

[0098] exist Figure 5 In the illustrated embodiment, a blind hole 112 is provided in the mounting structure 110. The blind hole 112 is used to accommodate the elastic sensor 130, so providing the elastic sensor 130 does not increase the peripheral dimensions of the sensor 100.

[0099] Please continue reading Figure 5 , Figure 8 and Figure 9 As shown, in one possible implementation, the blind hole 112 includes a first hole segment 1123 and a second hole segment 1124. The first hole segment 1123 is located on the base 113, and the second hole segment 1124 is located on the body 114. The elastic sensor 130 extends from one side of the first hole segment 1123.

[0100] A first hole segment 1123 extending along the axial direction L can be formed on the base 113, and a second hole segment 1124 extending along the axial direction L can be formed on a portion of the body 114. The bottom wall 1121 of the blind hole 112 is located on the side of the second hole segment 1124 opposite to the first hole segment 1123, and the opening end face 1122 of the blind hole 112 is located on one side of the base 113. By providing the first hole segment 1123 and the second hole segment 1124 on the base 113 and body 114 respectively, the blind hole 112 can be machined in segments, avoiding the problem of poor machining accuracy when the dimension of the blind hole 112 along the axial direction L is too large.

[0101] Please continue reading Figure 5 As shown, the elastic force direction of the elastic sensor 130 is the axial direction L. One end of the elastic sensor 130 along its elastic force direction is connected to the bottom wall 1121 of the blind hole 112. The other end of the elastic sensor 130 extends out of the opening end face 1122 of the blind hole 112.

[0102] Please continue reading Figure 6 As shown, after the mounting structure 110 is connected to the mounting surface 200, the side of the base 113 of the mounting structure 110 facing away from the body 114 faces the mounting surface 200, and the opening end face 1122 of the blind hole 112 also faces the mounting surface 200. The side of the base 113 facing away from the body 114 can fit against the mounting surface 200. Therefore, the portion of the elastic sensor 130 extending from the opening end face 1122 of the blind hole 112 abuts against the mounting surface 200. At this time, the elastic sensor 130 is in a compressed state, and the inductance value corresponding to the elastic sensor 130 is the initial inductance value.

[0103] A blind hole 112 is provided in the fixing part 1143. When the bearing part 1145 of the body 114 is subjected to force, the fixing part 1143 remains stationary. Therefore, the side wall and bottom wall 1121 of the blind hole 112 can provide stable support for the elastic sensor 130, so that the accuracy of the detection by the elastic sensor 130 will not be affected by the force on the sensor 100.

[0104] Please continue reading Figure 7 As shown, the inductance value of the elastic sensor 130 changes with the pressure applied to it. The elastic sensor 130 abuts against the mounting structure 110 and the mounting surface 200, and has an initial inductance value. When the mounting of the sensor 100 to the mounting surface 200 becomes loose, for example, when a gap forms between the side of the base 113 facing away from the body 114 and the mounting surface 200, the inductance value of the elastic sensor 130 changes. In other words, the inductance value of the elastic sensor 130 changes with the distance between the sensor 100 and the mounting surface 200.

[0105] The elastic sensor 130 is electrically connected to the data acquisition unit 120. The data acquisition unit 120 collects the change in the inductance value of the elastic sensor 130 relative to the initial inductance value, and thus judges in real time whether the sensor 100 has become loose based on the change in the inductance value.

[0106] The data acquisition unit 120 is an existing component in the sensor 100. By simply setting the elastic sensor 130 in the sensor 100, it is possible to detect in real time whether the installation of the sensor 100 has become loose. The cost of the elastic sensor 130 is lower than that of the infrared sensing device in related technologies, thus making the cost of the sensor 100 also lower.

[0107] The sensor 100 provided in this embodiment comprises a mounting structure 110, a data acquisition unit 120, and an elastic sensor 130. The data acquisition unit 120 is connected to the mounting structure 110. One end of the elastic sensor 130 abuts against the mounting structure 110, and the free end of the elastic sensor 130 is adapted to abut against the mounting surface 200. The elastic sensor 130 is electrically connected to the data acquisition unit 120. The inductance value of the elastic sensor 130 changes with the pressure it receives. The data acquisition unit 120 is used to collect the change in inductance of the elastic sensor 130. When the inductance of the elastic sensor 130 changes, it can be determined that the pressure applied to the elastic sensor 130 by the mounting structure 110 and the mounting surface 200 has changed. Therefore, it can be determined that the distance between the mounting structure 110 and the mounting surface 200 has changed, and thus it can be determined whether the installation of the sensor 100 has become loose. By simply adding an elastic sensor 130 to the sensor 100, it is possible to detect whether the installation of the sensor 100 has become loose in real time, thereby reducing the cost of the sensor 100. In addition, the elastic sensor 130 does not change the outer dimensions of the mounting structure 110, which makes the sensor 100 have good installation adaptability.

[0108] In one possible implementation, the data acquisition unit 120 is used to convert the change in inductance into the elastic deformation of the elastic sensor 130.

[0109] Therefore, when the inductance of the elastic sensor 130 changes, the elastic deformation of the elastic sensor 130, which is located between the mounting structure 110 and the mounting surface 200, also changes accordingly. The data acquisition unit 120 converts the change in inductance into the elastic deformation. The distance between the mounting structure 110 and the mounting surface 200 can be directly obtained from the elastic deformation of the elastic sensor 130, which is convenient for users to make judgments.

[0110] In one possible implementation, the elastic body of the elastic sensor 130 can be made of an elastic composite material, for example, by uniformly mixing soft magnetic particles into an uncured silicone rubber or polyurethane elastic polymer, and then curing it to form a magnetic elastomer. A coil is then fitted around the outside of the elastomer. At this point, the elastomer has an initial magnetic permeability. When the elastomer is stretched or compressed, the distribution, spacing, and orientation of the internal magnetic particles change. The change in particle distribution directly alters the effective magnetic permeability of the elastomer. The change in permeability sensed by the external coil leads to a change in its inductance value.

[0111] Please continue reading Figure 5As shown, in another possible embodiment, the elastic sensor 130 includes an elastic coil 131. The elastic coil 131 has a first end 131a and a second end 131b opposite to each other along the direction of elastic force. The first end 131a is connected to the bottom wall 1121 of the blind hole 112, and the second end 131b is a free end. The elastic coil 131 is electrically connected to the collector 120. When winding the coil, a gap can be made between each turn of the coil, thereby giving the coil a compression amount and thus generating elasticity, forming the elastic coil 131.

[0112] The first end 131a of the elastic coil 131 is connected to the bottom wall 1121 of the blind hole 112. When the sensor 100 is mounted on the mounting surface 200, the elastic coil 131 abuts between the bottom wall 1121 of the blind hole 112 and the mounting surface 200.

[0113] When the distance between the mounting surface 200 and the base 113 changes, the inductance of the elastic coil 131 decreases. The change in inductance of the elastic coil 131 can be transmitted to the data acquisition unit 120 in a timely manner, making the detection process faster and more accurate. Compared with the above embodiment where the change in inductance is indirectly obtained through the change in magnetic permeability, directly setting the coil as an elastic coil 131 allows for direct measurement of the elastic deformation through the change in inductance of the elastic coil 131. The measurement principle of the elastic coil 131 is simpler, the structure is simpler, and the cost is lower.

[0114] Figure 12 This is a schematic diagram of the electrical connection between the elastic coil and the data acquisition unit in the sensor provided in the embodiment of this application.

[0115] See Figure 12 As shown, the data acquisition unit 120 is equipped with an inductor-to-digital converter 122. The first lead 132 and the second lead 133 are electrically connected to the inductor-to-digital converter 122. The inductor-to-digital converter 122 can acquire the inductance change of the elastic coil 131 and convert the inductance change of the elastic coil 131 into elastic deformation.

[0116] An inductance-to-digital converter (LDC) is used to measure the change in inductance of an inductor coil and directly convert the change in inductance into a digital signal output of the elastic deformation.

[0117] An inductance-to-digital converter 122 can be installed on the data acquisition unit 120. This converter converts the change in inductance of the elastic coil 131 into an elastic deformation, making it easier for the data acquisition unit 120 to acquire and for the user to record. For example, a change in inductance of the elastic coil 131 of 0.01 mH corresponds to a change in length of 0.1 mm. The inductance-to-digital converter 122 is low-cost, and its use simplifies the circuit layout of the data acquisition unit 120, thus reducing the cost of the sensor 100.

[0118] Please continue reading Figures 8 to 11 As shown, in one possible implementation, the mounting structure 110 further includes a wire groove 115, which communicates with the blind hole 112 and the receiving cavity 111, and the extension direction of the wire groove 115 is the same as the extension direction of the blind hole 112; the elastic sensor 130 further includes a first lead 132 and a second lead 133, which are threaded through the wire groove 115. The first lead 132 is electrically connected to the first end 131a and the collector 120, and the second lead 133 is electrically connected to the second end 131b and the collector 120.

[0119] A wire groove 115 can also be formed on the mounting structure 110, extending along the axial direction L. The wire groove 115 is used to accommodate the first lead 132 and the second lead 133. The wire groove 115 is located inside the mounting structure 110, and the first lead 132 and the second lead 133 are also located inside the mounting structure 110. Thus, the arrangement of the first lead 132 and the second lead 133 does not change the outer dimensions of the mounting structure 110, and the fact that the first lead 132 and the second lead 133 are not exposed can also prevent damage to the first lead 132 and the second lead 133.

[0120] One end of the groove 115 is connected to the blind hole 112 along the radial direction R, and the other end of the groove 115 is connected to the receiving cavity 111 along the radial direction R. The first lead 132 and the second lead 133 can be located in the groove 115, which extends along the axial direction L. When the dimension of the elastic coil 131 changes along the axial direction L, the first lead 132 and the second lead 133 can move along the axial direction L in the groove 115. This avoids the first lead 132 and the second lead 133 pulling on the elastic coil 131, and prevents the elastic coil 131 from being affected by additional forces, thus ensuring the accuracy of the test.

[0121] In one possible implementation, the elastic sensor 130 further includes a data acquisition end 134, which is connected to the second end 131b of the elastic coil 131. The data acquisition end 134 extends out of the open end face 1122 of the blind hole 112, and the side of the data acquisition end 134 facing the mounting surface 200 is spherical. The data acquisition end 134 is used to abut against the mounting surface 200.

[0122] When the second end 131b of the elastic coil 131 directly abuts against the mounting surface 200, the elastic coil 131 may scratch the mounting surface 200. Therefore, a sampling head 134 can be connected to one side of the second end 131b, and the side of the sampling head 134 facing the mounting surface 200 can be spherical, so that damage to the mounting surface 200 can be reduced when the sampling head 134 abuts against the mounting surface 200.

[0123] Please continue reading Figures 8 to 11 As shown, the mounting structure 110 has a plurality of spaced mounting portions 116 for connecting to the mounting surface 200; there are a plurality of blind holes 112, and each mounting portion 116 is provided with a blind hole 112 nearby, and each blind hole 112 is provided with an elastic sensor 130.

[0124] The mounting part 116 can also be a snap fastener, and the mounting surface 200 has a snap-fit ​​part corresponding to the snap fastener. The snap fastener snaps into the snap-fit ​​part to connect the mounting structure 110 to the mounting surface 200.

[0125] exist Figures 8 to 11 In the illustrated embodiment, the mounting portion 116 can be an eighth mounting hole 1161 provided on the mounting structure 110, and the mounting surface 200 has a ninth mounting hole. Fasteners are inserted into the eighth mounting hole 1161 and the ninth mounting hole to connect the mounting structure 110 to the mounting surface 200. By providing the mounting portion 116 as the eighth mounting hole 1161 provided on the mounting structure 110, the peripheral dimensions of the mounting structure 110 can be maintained without increasing the size of the mounting structure 110.

[0126] The mounting structure 110 includes a base 113 and a body 114. The eighth mounting hole 1161 includes a third hole segment 1161a and a fourth hole segment 1161b. The third hole segment 1161a is disposed on the base 113, and the fourth hole segment 1161b is disposed on the body 114. By disposing of the third hole segment 1161a and the fourth hole segment 1161b on the base 113 and the body 114 respectively, the eighth mounting hole 1161 can be machined in segments, avoiding the problem of poor machining accuracy when the axial dimension L of the eighth mounting hole 1161 is too large.

[0127] The mounting structure 110 has a plurality of mounting portions 116 evenly spaced along the circumferential direction C. Figures 8 to 11 The diagram schematically shows four mounting portions 116 evenly spaced along the circumferential direction C. The evenly spaced mounting portions 116 along the circumferential direction C on the mounting structure 110 ensure a more uniform force distribution when the mounting structure 110 is connected to the mounting surface 200.

[0128] In this embodiment of the application, a blind hole 112 is provided near each mounting part 116. One blind hole 112 may be provided near each mounting part 116, or two or more blind holes 112 may be provided. Figures 8 to 11 In the illustrated embodiment, a blind hole 112 is provided near each mounting portion 116. An elastic sensor 130 is provided in each blind hole 112. Therefore, any loosening at any mounting portion 116 of the mounting structure 110 can be detected promptly.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A sensor, characterized in that, include: Installation structure (110); An elastic sensor (130) has one end abutting against the mounting structure (110) along its elastic force direction, and the other end is a free end; The collector (120) is electrically connected to the elastic sensor (130) and is used to collect the change in inductance of the elastic sensor (130).

2. The sensor according to claim 1, characterized in that, The data acquisition unit (120) is used to convert the change in inductance into the elastic deformation of the elastic sensor (130).

3. The sensor according to claim 1, characterized in that, The elastic sensor (130) includes an elastic coil (131), which has a first end (131a) and a second end (131b) opposite to each other along the direction of elastic force. The first end (131a) abuts against the mounting structure (110), and the second end (131b) is the free end. The elastic coil (131) is electrically connected to the collector (120).

4. The sensor according to claim 3, characterized in that, The collector (120) is disposed within the mounting structure (110), and an inductor-to-digital converter (122) is disposed on the collector (120). The inductor-to-digital converter (122) is used to convert the inductance change of the elastic coil (131) into the elastic deformation of the elastic coil (131).

5. The sensor according to claim 4, characterized in that, The elastic sensor (130) also includes an end (134) connected to the second end (131b) of the elastic coil (131); the end (134) is used to abut against the mounting surface (200).

6. The sensor according to claim 3, characterized in that, The mounting structure (110) is provided with a blind hole (112), at least part of the elastic coil (131) is located in the blind hole (112), the first end (131a) of the elastic coil (131) is connected to the bottom wall (1121) of the blind hole (112), and the second end (131b) faces the opening end face (1122) of the blind hole (112).

7. The sensor according to claim 6, characterized in that, The mounting structure (110) further includes a wire groove (115) which communicates with the blind hole (112); the elastic sensor (130) further includes a first lead (132) and a second lead (133), which are inserted in the wire groove (115); the first lead (132) is electrically connected to the first end (131a) and the collector (120), and the second lead (133) is electrically connected to the second end (131b) and the collector (120).

8. The sensor according to claim 6, characterized in that, The mounting structure (110) has a plurality of spaced mounting portions (116), which are used to connect with the mounting surface (200); There are multiple blind holes (112), and each of the mounting parts (116) is provided with a blind hole (112), and each of the blind holes (112) is provided with an elastic sensor (130).

9. The sensor according to any one of claims 1 to 8, characterized in that, The mounting structure (110) includes a base (113) and a body (114) connected to the base (113). The body (114) and the base (113) form a receiving cavity (111), and the collector (120) is located in the receiving cavity (111).

10. The sensor according to claim 9, characterized in that, It also includes a stress sensor (1142), which is disposed in the receiving cavity (111) and is electrically connected to the collector (120).

11. The sensor according to claim 10, characterized in that, The body (114) includes a fixing part (1143), a strain beam (1144) and a supporting part (1145), wherein the supporting part (1145) and the fixing part (1143) are connected to both ends of the strain beam (1144); the fixing part (1143) is connected to the base (113); The bearing part (1145) is used to connect with the force-applying component (300), and the stress sensor (1142) is disposed on the strain beam (1144).

12. The sensor according to claim 11, characterized in that, It also includes a cover (140) which covers the side of the support part (1145) away from the base (113), the cover (140) is connected to the support part (1145), and the cover (140) is used to connect with the force-applying component (300).

13. A robot, characterized in that, It includes a mounting surface (200), a force-applying component (300), and a sensor (100) as described in any one of claims 1 to 12, the sensor (100) being connected between the force-applying component (300) and the mounting surface (200), the free end of the elastic sensor (130) abutting against the mounting surface (200).

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