Force detection device and force detection system

Abstract

The present invention discloses a force detection device and a force detection system. The force detection device comprises: a mounting plate (1); a force sensor (3) mounted on the mounting plate (1); and a lever assembly (20) rotatably mounted on the mounting plate (1), with its axis of rotation serving as a pivot point (23). The lever assembly (20) serves to amplify a thrust force F1 exerted on it by a detected object (51) and to transmit the amplified thrust force F2 to the force sensor (3). Therefore, the force detection device in the present invention can accurately and sensitively detect the thrust force exerted by the detected object and thereby precisely determine, based on the change curve of the detected thrust force, whether the quality of the detected object is suitable.

Description

Cross-reference to related application

[0001] This application claims priority to Chinese Patent Application No. CN202311037768.1, filed with the State Intellectual Property Office of China on August 16, 2023, the entire disclosure of which is incorporated herein by reference. Background of the inventionField of the invention

[0002] The present invention relates to a force sensing device and a force sensing system comprising the force sensing device. Description of the state of the art

[0003] In the current technology, it is sometimes necessary to apply force to determine whether the quality of the inspected product is suitable. For example, force can be applied to check whether there are virtual welding problems in the welded product. However, in high-speed continuous testing, it is difficult for a force sensor to detect small forces accurately and sensitively, and each detection position cannot be clearly determined. This makes automated testing difficult, and manual testing contributes to low process stability, thereby affecting the automation level of the entire production line. Overview of the invention

[0004] The present invention has been devised to overcome or mitigate at least one aspect of the above-mentioned disadvantages.

[0005] According to one aspect of the present invention, a force sensing device is provided. The force sensing device comprises: a mounting plate; a force sensor mounted on the mounting plate; and a lever assembly rotatably mounted on the mounting plate and rotatable with its rotational axis serving as a pivot point. The lever assembly serves to amplify a thrust force F1 exerted thereon by a sensed object and to transmit the amplified thrust force F2 to the force sensor.

[0006] According to an exemplary embodiment of the present invention, the lever assembly includes: a lever member having a first force arm and a second force arm, respectively disposed on both sides of the pivot point; and a movable arm movably attached to the first force arm and movable along the longitudinal direction of the first force arm. The end of the movable arm protrudes beyond the end of the first force arm to make contact with the detected object, and the end of the second force arm is used to contact the force sensor and apply the amplified thrust force F2 to the force sensor.

[0007] According to another exemplary embodiment of the present invention, a distance from the end of the movable arm to the pivot point is referred to as the first arm length L1, and a distance from the end of the second force arm to the pivot point is referred to as the second arm length L2; the first arm length L1 is greater than the second arm length L2, so that the thrust force F2 exerted by the end of the second force arm on the force sensor is greater than the thrust force F1 exerted by the detected object on the end of the movable arm.

[0008] According to another exemplary embodiment of the present invention, the ratio of the first arm length L1 to the second arm length L2 is referred to as the force amplification coefficient K, and the force amplification coefficient K is adjustable by moving the movable arm along the longitudinal direction of the first force arm.

[0009] According to another exemplary embodiment of the present invention, the force detecting device further comprises an arm length adjusting device mounted on the first force arm of the lever member and used to move the movable arm along the longitudinal direction of the first force arm to adjust the size of the first arm length L1.

[0010] According to another exemplary embodiment of the present invention, the arm length adjustment device comprises: a first threaded rod rotatably mounted on the first power arm; and a first nut screwed onto the first threaded rod. The first nut is fixed to the movable arm such that the first nut and the movable arm can be driven to move along the longitudinal direction of the first power arm by rotating the first threaded rod.

[0011] According to another exemplary embodiment of the present invention, the arm length adjustment device further comprises a first locking element movably mounted on the first power arm. When the first locking element is moved to a locking position, the first locking element is engaged with the first threaded rod to prevent the first threaded rod from rotating; when the first locking element is moved to an unlocked position, the first locking element is disengaged from the first threaded rod to allow the first threaded rod to rotate.

[0012] According to another exemplary embodiment of the present invention, the force detecting device further comprises: a limiting member mounted on the mounting plate for limiting the lever unit to a predetermined initial position; and an elastic return member disposed between the mounting plate and the lever unit to return the lever unit to the initial position when the lever unit is not in contact with the detected object.

[0013] According to another exemplary embodiment of the present invention, one end of the lever assembly is used to contact the detected object, and the other end is used to contact the force sensor; the other end of the lever assembly can be rotated about the pivot point between the force sensor and the limiting element; when the lever assembly is in the home position, the other end of the lever assembly abuts the limiting element.

[0014] According to a further exemplary embodiment of the present invention, the limiting element is movably and / or rotatably mounted on the mounting plate so that a distance G between the limiting element and the force sensor is adjustable.

[0015] According to another exemplary embodiment of the present invention, the limiting element is an eccentric cam rotatably mounted on the mounting plate, and the eccentric cam can be rotated about its eccentric axis by various angles to adjust the distance G between the limiting element and the force sensor.

[0016] According to another exemplary embodiment of the present invention, the force sensing device further comprises a locking element movably mounted on the mounting plate. When the locking element is moved to a locking position, the locking element engages the limiting element to lock the limiting element so that the limiting element cannot be moved or rotated; when the locking element is moved to an unlocked position, the locking element is separated from the limiting element to allow the limiting element to be moved or rotated.

[0017] According to another exemplary embodiment of the present invention, the force sensing device further comprises a substrate or a carrier, wherein the mounting plate is rotatably mounted on the substrate and is rotatable about a horizontal axis parallel to a first horizontal direction.

[0018] According to another exemplary embodiment of the present invention, a rotary shaft bore is formed in the substrate, and a rotary shaft is provided on the mounting plate; the rotary shaft is rotatably mounted in the rotary shaft bore so that the mounting plate is rotatable relative to the substrate.

[0019] According to another exemplary embodiment of the present invention, a plurality of rotary shaft holes are formed in the substrate, and the plurality of rotary shaft holes are spaced apart from each other in a vertical direction; the rotary shaft on the mounting plate can be rotatably mounted in one of the plurality of rotary shaft holes, so that the position of the mounting plate is adjustable in the vertical direction.

[0020] According to a further exemplary embodiment of the present invention, the axis of rotation of the lever arrangement extends along the first horizontal direction.

[0021] According to another exemplary embodiment of the present invention, the force sensing device further comprises a fixed plate, wherein the substrate is movably mounted on the fixed plate and is movable relative to the fixed plate in a second horizontal direction perpendicular to the first horizontal direction.

[0022] According to another exemplary embodiment of the present invention, the force detecting device further comprises a position adjusting device mounted on the fixed plate for moving the substrate along the second horizontal direction and adjusting the position of the substrate in the second horizontal direction.

[0023] According to another exemplary embodiment of the present invention, the position adjustment device comprises: a second threaded rod rotatably mounted on the fixed plate; and a second nut screwed onto the second threaded rod. The second nut is fixed to the substrate, so that the second nut and the substrate are movable by rotating the second threaded rod in the second horizontal direction.

[0024] According to another exemplary embodiment of the present invention, the position adjustment device further includes a second locking member movably mounted on the fixed plate. When the second locking member is moved to a locking position, the second locking member is engaged with the second threaded rod to prevent the second threaded rod from rotating; when the second locking member is moved to an unlocked position, the second locking member is disengaged from the second threaded rod to allow the second threaded rod to rotate.

[0025] According to another aspect of the present invention, a force detection system is provided. The force detection system comprises: the above-mentioned force detection device; and a moving device used to drive the force detection device to move relative to the detected object.

[0026] According to another exemplary embodiment of the present invention, the detected object is a wire soldered to a circuit board, and the force sensing device is used to detect whether the wire has undergone fictitious soldering; when the wire has undergone fictitious soldering, the wire is detached from the circuit board under the pressure of the lever assembly, resulting in the thrust force change curve detected by the force sensor being different from the predetermined thrust force change curve; the force sensing system determines whether the wire is subjected to fictitious soldering based on the thrust force change curve detected by the force sensor; the predetermined thrust force change curve refers to the thrust force change curve detected by the force sensor when the welding quality of the wire is suitable.

[0027] According to another exemplary embodiment of the present invention, the distance G between the force sensor and the limiting element of the force detecting device is adjusted according to a movement speed V of the force detecting device relative to the detected object; the distance G between the force sensor and the limiting element is inversely proportional to the movement speed V of the force detecting device relative to the detected object.

[0028] In the aforementioned exemplary embodiments of the present invention, the force detecting device can accurately and sensitively detect the thrust force exerted by the detected object, and thereby accurately detect whether the quality of the detected object is suitable based on the change curve of the detected thrust force. Short description of the drawings

[0029] The above and other features of the present invention will become more apparent from the detailed description of exemplary embodiments with reference to the accompanying drawings, in which: Fig. 1 shows an illustrative view of a force sensing device according to an exemplary embodiment of the present invention, wherein the mounting plate is in a vertical home position; Fig. 2 shows an illustrative view of a force sensing device according to an exemplary embodiment of the present invention, in which the mounting plate is rotated to an inclined position; Fig. 3 shows an illustrative view of the lever arrangement of a force sensing device according to an exemplary embodiment of the present invention; Fig. 4 shows an illustrative view of a lever assembly of a force sensing device according to an exemplary embodiment of the present invention, wherein the lever assembly is in its home position when not in contact with the sensed object; Fig. 5 shows an illustrative view of a lever assembly of a force sensing device according to an exemplary embodiment of the present invention, wherein the lever assembly is in a sensing position when in contact with the sensed object; Fig. 6 shows an illustrative view of a lever assembly, a force sensor, and a limiting element of a force sensing device according to an exemplary embodiment of the present invention, wherein the limiting element is rotated to a first angular position; Fig. 7 shows an illustrative view of a lever assembly, a force sensor, and a limiting element of a force sensing device according to an exemplary embodiment of the present invention, wherein the limiting element is rotated to a second angular position; Fig. 8 shows an illustrative view of a lever assembly, a force sensor, and a limiting element of a force sensing device according to an exemplary embodiment of the present invention, wherein the limiting element is rotated to a third angular position; Fig. 9 shows an illustrative view of an arm length adjustment device according to an exemplary embodiment of the present invention, wherein the first locking element is separated from the first threaded rod in an unlocked position; Fig. 10 shows an illustrative view of an arm length adjustment device according to an exemplary embodiment of the present invention, wherein the first locking element is in a locking position in which it engages the first threaded rod; Fig. 11 shows an illustrative view of a position adjustment device according to an exemplary embodiment of the present invention, wherein the second locking element is separated from the second threaded rod in an unlocked position; and Fig. 12 shows an illustrative view of a position adjustment device according to an exemplary embodiment of the present invention, wherein the second locking element is in a locking position in which it engages the second threaded rod. Detailed description of preferred embodiments of the invention

[0030] Exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings, wherein like reference numerals refer to like elements. However, the present disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concepts of the disclosure to those skilled in the art.

[0031] In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown schematically to simplify the drawing.

[0032] According to a general concept of the present invention, a force sensing device is provided. The force sensing device comprises: a mounting plate; a force sensor mounted on the mounting plate; and a lever assembly rotatably mounted on the mounting plate and rotatable with its rotational axis serving as a fulcrum. The lever assembly is used to amplify a pushing force F1 exerted on it by a sensed object and apply the amplified pushing force F2 to the force sensor.

[0033] According to another general concept of the present invention, a force detection system is provided. The force detection system comprises: the aforementioned force detection device; and a movement device for driving the force detection device for relative movement to the detected object.

[0034] Fig. 1 shows an illustrative view of a force sensing device according to an exemplary embodiment of the present invention, wherein the mounting plate 1 is in a vertical starting position; Fig. 2 shows an illustrative view of a force sensing device according to an exemplary embodiment of the present invention, wherein the mounting plate 1 is rotated to an inclined position; Fig. 3 shows an illustrative view of the lever assembly 20 of a force sensing device according to an exemplary embodiment of the present invention; Fig. 4 shows an illustrative view of a lever assembly 20 of a force sensing device according to an exemplary embodiment of the present invention, wherein the lever assembly 20 is in its home position when not in contact with the sensed object 51; Fig. 5 shows an illustrative view of a lever assembly 20 of a force sensing device according to an exemplary embodiment of the present invention, wherein the lever assembly 20 is in the sensing position when in contact with the sensed object 51.

[0035] As in the Fig. 1 to 5, in an exemplary embodiment of the present invention, a force sensing device is disclosed. The force sensing device comprises a mounting plate 1, a force sensor 3, and a lever assembly 20. The force sensor 3 is mounted on the mounting plate 1. The lever assembly 20 is rotatably attached to the mounting plate 1 and is rotatable, with its rotational axis serving as a pivot point 23. The lever assembly 20 is used to amplify the thrust force F1 exerted on it by the detected object 51 and to exert the amplified thrust force F2 on the force sensor 3.

[0036] As in the Fig. As shown in Figures 1 to 5, the lever assembly 20 in the illustrated embodiments includes a lever element 2 and a movable arm 24. The lever assembly 2 is rotatably mounted on the mounting plate 1. The lever assembly 2 has a first lever arm 21 and a second lever arm 22, respectively arranged on either side of the pivot point 23. The movable arm 24 is movably attached to the first force arm 21 and can be moved along the longitudinal direction of the first force arm 21.

[0037] As in the Fig. 1 to 5, in the embodiment shown, the end of the movable arm 24 extends beyond the end of the first force arm 21 to contact the detected object 51. The end of the second force arm 22 serves to contact the force sensor 3 to exert the amplified thrust force F2 on the force sensor 3.

[0038] As in the Fig. 1 to 5, in the illustrated embodiments, the distance between the end of the movable arm 24 and the pivot point 23 is referred to as the first arm length L1, and the distance between the end of the second force arm 22 and the pivot point 23 is referred to as the second arm length L2. The first arm length L1 is greater than the second arm length L2, so that the thrust force F2 exerted by the end of the second force arm 22 on the force sensor 3 is greater than the thrust force F1 exerted by the detected object 51 on the end of the movable arm 24.

[0039] As in the Fig. 1 to 5, in the illustrated embodiments, the ratio between the length of the first arm L1 and the length of the second arm L2 is referred to as the force amplification coefficient K, and the force amplification coefficient K is adjustable by moving the movable arm 24 along the longitudinal direction of the first force arm 21.

[0040] Fig. 9 shows an illustrative view of an arm length adjusting device 6 according to an exemplary embodiment of the present invention, wherein the first locking element 63 is in an unlocked position, thereby being separated from the first threaded rod 61; Fig. 10 shows an illustrative view of an arm length adjustment device 6 according to an exemplary embodiment of the present invention, wherein the first locking element 63 is in a locking position, thereby engaging the first threaded rod 61.

[0041] As in the Fig. As shown in Figures 1-5 and 9-10, the force sensing device in the illustrated embodiments further includes an arm length adjustment device 6. The arm length adjustment device 6 is mounted on the first force arm 21 of the lever member 2 and is used to move the movable arm 24 along the longitudinal direction of the first force arm 21 to thereby adjust the size of the first arm length L1.

[0042] As in the Fig. 1-5 and 9-10, the arm length adjustment device 6 in the illustrated embodiment comprises a first threaded rod 61 and a first nut 62. The first threaded rod 61 is rotatably attached to the first power arm 21. The first nut 62 is screwed to the first threaded rod 61. The first nut 62 is fixed to the movable arm 24 so that the first nut 62 and the movable arm 24 can be driven to move along the longitudinal direction of the first power arm 21 by rotating the first threaded rod 61.

[0043] As in the Fig. 1-5 and 9-10, the arm length adjustment device 6 in the illustrated embodiment further includes a first locking member 63 movably mounted on the first power arm 21. When the first locking member 63 is moved to the locking position, the first locking member 63 engages the first threaded rod 61 to prevent the first threaded rod 61 from rotating; when the first locking member 63 is moved to the unlocked position, the first locking member 63 is disengaged from the first threaded rod 61 to allow the first threaded rod 61 to rotate.

[0044] Fig. 6 shows an illustrative view of the lever assembly 20, the force sensor 3 and the limiting element 4 of a force sensing device according to an exemplary embodiment of the present invention, wherein the limiting element 4 is rotated to a first angular position; Fig. 7 shows an illustrative view of the lever assembly 20, the force sensor 3 and the limiting element 4 of a force sensing device according to an exemplary embodiment of the present invention, wherein the limiting element 4 is rotated to a second angular position; Fig. 8 shows an illustrative view of the lever assembly 20, the force sensor 3 and the limiting element 4 of a force sensing device according to an exemplary embodiment of the present invention, wherein the limiting element 4 is rotated to a third angular position.

[0045] As in the Fig. As shown in Figures 1 to 10, the force sensing device in the illustrated embodiments further comprises a limiting element 4 and an elastic return element (not shown, may be a coil spring). The limiting element 4 is attached to the mounting plate 1 to limit the lever assembly 20 to a predetermined initial position. The elastic return element is mounted between the mounting plate 1 and the lever assembly 20 and serves to return the lever assembly 20 to its initial position when it is not in contact with the detected object 51.

[0046] As in the Fig. 1 to 10, in the illustrated embodiments, one end of the lever assembly 20 (in the figure, the end of the movable arm 24) is used to contact the detected object 51, and the other end (in the figure, the end of the second force arm 22) is used to contact the force sensor 3. The other end of the lever assembly 20 can be rotated about the pivot point 23 between the force sensor 3 and the limiting element 4. In the initial position of the lever assembly 20, the other end of the lever assembly 20 rests against the limiting element 4.

[0047] As in the Fig. 1 to 10, the limiting element 4 in the illustrated embodiments can be movably and / or rotatably attached to the mounting plate 1 so that the distance G between the limiting element 4 and the force sensor 3 can be adjusted.

[0048] As in the Fig. 1 to 10, in the illustrated embodiments, the limiting element 4 is an eccentric cam rotatably mounted on the mounting plate 1. The eccentric cam is rotatable about its eccentric axis 41 at various angles to adjust the distance G between the limiting element 4 and the force sensor 3.

[0049] In the Fig. 6, the limiting element 4 is rotated by a first angle, so that the distance G between the limiting element 4 and the force sensor 3 is equal to a first distance G1. In the embodiment shown in Fig. In the embodiment shown in Figure 7, the limiting element 4 is rotated by a second angle which differs from the first angle, so that the distance G between the limiting element 4 and the force sensor 3 is equal to a second distance G2. Fig. In the embodiment shown in Figure 8, the limiting element 4 is rotated by a third angle that differs from the first and second angles, so that the distance G between the limiting element 4 and the force sensor 3 is equal to a third distance G3. In the illustrated embodiment, the first distance G1, the second distance G2, and the third distance G3 are different from one another.

[0050] As in the Fig. As shown in Figures 1 to 10, the force sensing device in the illustrated embodiments further includes a locking member (not shown) that can be movably mounted on the mounting plate 1. When the locking member is moved to the locking position, the locking member engages the limiting member 4 to lock the limiting member 4 and prevent it from being moved or rotated. When the locking member is moved to the unlocked position, it is separated from the limiting member 4, allowing the limiting member 4 to be moved or rotated.

[0051] Fig. 11 shows an illustrative view of a position adjusting device 9 according to an exemplary embodiment of the present invention, in which the second locking element 93 is in an unlocked position in which it is separated from the second threaded rod 91; Fig. 12 shows an illustrative view of a position adjusting device 9 according to an exemplary embodiment of the present invention, in which the second locking element 93 is in a locking position in which it engages with the second threaded rod 91.

[0052] As in the Fig. As shown in Figures 1 to 12, the force sensing device in the illustrated embodiments further comprises a carrier or substrate 7. The mounting plate 1 is rotatably mounted on the substrate 7 and can be rotated about a horizontal axis parallel to a first horizontal direction X.

[0053] As in the Fig. 1 to 12, in the illustrated embodiments, a rotary shaft bore 71 is formed in the substrate 7, and a rotary shaft 11 is provided on the mounting plate 1. The rotary shaft 11 is rotatably mounted in the rotary shaft bore 71 so that the mounting plate 1 can be rotated relative to the substrate 7.

[0054] As in the Fig. 1 to 12, in the illustrated embodiments, a plurality of rotary shaft holes 71 are formed in the substrate 7, and the plurality of rotary shaft holes 71 are spaced apart from each other in the vertical direction Z. The rotary shaft 11 on the mounting plate 1 can be rotatably mounted in each of the plurality of rotary shaft holes 71, so that the position of the mounting plate 1 can be adjusted in the vertical direction Z.

[0055] As in the Fig. 1 to 12, the axis of rotation of the lever arrangement 20 in the illustrated embodiment extends along the first horizontal direction X.

[0056] As in the Fig. 1 to 12, the force sensing device in the illustrated embodiments further comprises a fixed plate 8. The substrate 7 is movably mounted on the fixed plate 8 and can move relative to the fixed plate 8 in a second horizontal direction Y perpendicular to the first horizontal direction X.

[0057] As in the Fig. 1 to 12, the force sensing device in the illustrated embodiments further includes a position adjusting device 9. The position adjusting device 9 is attached to the fixed plate 8 and is used to move the substrate 7 along the second horizontal direction Y to thereby adjust the position of the substrate 7 in the second horizontal direction Y.

[0058] As in the Fig. 1 to 12, the position adjustment device 9 in the illustrated embodiments includes a second threaded rod 91 and a second nut 92. The second threaded rod 91 is rotatably mounted on the fixed plate 8. The second nut 92 is screwed to the second threaded rod 91. The second nut 92 is fixed to the substrate 7, so that the second nut 92 and the substrate 7 can be moved in the second horizontal direction Y by rotating the second threaded rod 91.

[0059] As in the Fig. 1 to 12, the position adjusting device 9 in the illustrated embodiments further includes a second locking member 93. The second locking member 93 is movably mounted on the fixed plate 8. When the second locking member 93 is moved to the locking position, the second locking member 93 is engaged with the second threaded rod 91 to prevent it from rotating. When the second locking member 93 is moved to the unlocked position, the second locking member 93 is separated from the second threaded rod 91, allowing the second threaded rod 91 to rotate.

[0060] As in the Fig. As shown in Figures 1 to 12, a force sensing system is also disclosed in another exemplary embodiment of the present invention. The force sensing system includes the aforementioned force sensing device and a movement device (not shown; it may be, for example, a translation mechanism). The movement device is used to drive the force sensing device to move relative to the detected object 51.

[0061] As in the Fig. 1 to 12, in the illustrated embodiments, the detected object 51 may be a wire or lead 51 soldered to the circuit board 52, and the force sensing device is used to detect whether the wire 51 is ostensibly soldered. If the wire 51 is unreliably soldered, the solder joint 53 between the wire 51 and the circuit board 52 is not secure and can easily come loose. Therefore, at this point, the wire 51 is detached from the circuit board 52 under the pressure of the lever assembly 20, resulting in the thrust force change curve detected by the force sensor 3 being different from the predetermined thrust force change curve. Therefore, it is possible to determine whether the wire 51 is unreliably soldered from the thrust force change curve detected by the force sensor 3.The predetermined thrust force change curve refers to the thrust force change curve detected by the force sensor 3 when the welding quality of the wire 51 is suitable.

[0062] As in the Fig.1 to 12, in the illustrated embodiments, the distance G between the force sensor 3 and the limiting element 4 of the force sensing device is adjusted based on the movement speed V of the force sensing device relative to the detected object 51. In the illustrated embodiment, the distance G between the force sensor 3 and the limiting element 4 is inversely proportional to the movement speed V of the force sensing device relative to the detected object 51. That is, the greater the movement speed V of the force sensing device relative to the detected object 51, the smaller the distance G between the force sensor 3 and the limiting element 4; the smaller the movement speed V of the force sensing device relative to the detected object 51, the greater the distance G between the force sensor 3 and the limiting element 4.

[0063] It should be clear to those skilled in the art that the above embodiments are intended as illustrations and not as limitations. For example, many modifications to the above embodiments can be made by those skilled in the art, and various features described in different embodiments can be freely combined without causing conflicts in structure or principle.

[0064] Although several exemplary embodiments have been shown and described, those skilled in the art will recognize that various changes or modifications may be made to these embodiments without departing from the principles and concepts of the disclosure, the scope of which is defined in the claims and their equivalents.

[0065] When an element is referred to herein in the singular and accompanied by the article "a," this is to be understood as not excluding the plural of those elements or steps unless such exclusion is expressly stated. Furthermore, references to "one embodiment" of the present invention are not to be understood as excluding the existence of further embodiments that also have the recited features. Furthermore, embodiments that "comprise" or "have" an element or a plurality of elements with a particular property may include additional elements that do not have that property, unless expressly stated otherwise. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 202311037768.1

[0001]

Claims

[1] A force sensing device comprising: a mounting plate (1); a force sensor (3) mounted on the mounting plate (1); and a lever arrangement (20) which is rotatably mounted on the mounting plate (1) and which is rotatable, its axis of rotation serving as a pivot point (23), wherein the lever arrangement (20) serves to amplify a thrust force F1 exerted on it by a detected object (51) and to exert the amplified thrust force F2 on the force sensor (3). [2] The force sensing device according to claim 1, wherein the lever assembly (20) comprises: a lever element (2) having a first force arm (21) and a second force arm (22), which are arranged accordingly on both sides of the pivot point (23); and a movable arm (24) movably mounted on the first power arm (21) and is movable along the longitudinal direction of the first force arm (21), wherein the end of the movable arm (24) for coming into contact with the detected object (51) extends beyond the end of the first force arm (21), wherein the end of the second force arm (22) serves to come into contact with the force sensor (3) in order to exert the amplified thrust force F2 on the force sensor (3). [3] The force detecting device according to claim 2, wherein a distance from the end of the movable arm (24) to the pivot point (23) is referred to as a first arm length L1 and a distance from the end of the second force arm (22) to the pivot point (23) is referred to as a second arm length L2, wherein the first arm length L1 is greater than the second arm length L2, so that the thrust force F2 exerted by the end of the second force arm (22) on the force sensor (3) is greater than the thrust force F1 exerted by the detected object (51) on the end of the movable arm (24); wherein the ratio of the first arm length L1 to the second arm length L2 is referred to as the force amplification coefficient K, and the force amplification coefficient K is adjustable by moving the movable arm (24) along the longitudinal direction of the first force arm (21). [4] The force sensing device according to claim 3, further comprising: an arm length adjusting device (6) mounted on the first power arm (21) of the lever element (2) and configured to move the movable arm (24) along the longitudinal direction of the first power arm (21) to adjust the size of the first arm length L1; wherein the arm length adjustment device (6) comprises: a first threaded rod (61) rotatably mounted on the first power arm (21); and a first nut (62) screwed onto the first threaded rod (61), wherein the first nut (62) is fastened to the movable arm (24) such that the first nut (62) and the movable arm (24) can be driven for movement along the longitudinal direction of the first power arm (21) by rotating the first threaded rod (61). [5] The force detecting device according to claim 4, wherein the arm length adjusting device (6) further comprises: a first locking element (63) movably mounted on the first power arm (21), wherein, when the first locking member (63) is in a locking position, the first locking member (63) engages the first threaded rod (61) to prevent the first threaded rod (61) from being rotated; wherein, when the first locking element (63) is in an unlocked position, the first locking element (63) is separated from the first threaded rod (61) to enable rotation of the first threaded rod (61). [6] The force sensing device according to claim 1, further comprising: a limiting element (4) mounted on the mounting plate (1) such that the lever arrangement (20) is limited to a predetermined starting position; and an elastic return element arranged between the mounting plate (1) and the lever arrangement (20) for returning the lever arrangement (20) to the starting position when the lever arrangement (20) is not in contact with the detected object (51). [7] The force detecting device according to claim 6, wherein one end of the lever assembly (20) serves to contact the detected object (51) and the other end serves to contact the force sensor (3); wherein the other end of the lever arrangement (20) is rotatable about the pivot point (23) between the force sensor (3) and the limiting element (4); wherein the other end of the lever arrangement (20) rests against the limiting element (4) when the lever arrangement (20) is in the starting position; wherein the limiting element (4) is movably and / or rotatably mounted on the mounting plate (1) such that a distance G between the limiting element (4) and the force sensor (3) is adjustable. [8] The force sensing device according to claim 7, wherein the limiting element (4) is an eccentric cam rotatably mounted on the mounting plate (1), and the eccentric cam is rotatable about its eccentric axis (41) to different angles such that the distance G between the limiting element (4) and the force sensor (3) is adjustable. [9] The force sensing device according to claim 6, further comprising: a locking element movably mounted on the mounting plate (1), wherein, when the locking element is displaced into a locking position, the locking element engages the limiting element (4) to lock the limiting element (4) so ​​that the limiting element (4) cannot be moved or rotated; wherein, when the locking element is displaced into an unlocked position, the locking element is separated from the limiting element (4) to allow movement or rotation of the limiting element (4). [10] The force sensing device according to any one of claims 1 to 9, further comprising: a substrate (7), wherein the mounting plate (1) is rotatably mounted on the substrate (7) and is rotatable about a horizontal axis parallel to a first horizontal direction (X), wherein a rotary shaft bore (71) is formed in the substrate (7) and a rotary shaft (11) is provided on the mounting plate (1); wherein the rotary shaft (11) is rotatably mounted in the rotary shaft bore (71) such that the mounting plate (1) is rotatable relative to the substrate (7). [11] The force detecting device according to claim 10, wherein a plurality of rotary shaft holes (71) are formed in the substrate (7), and the plurality of rotary shaft holes (71) are spaced apart from each other in a vertical direction (Z); wherein the rotary shaft (11) is rotatably mountable on the mounting plate (1) in each of the plurality of pivot holes (71) such that the position of the mounting plate (1) is adjustable in the vertical direction (Z). [12] The force detecting device according to claim 10, wherein the axis of rotation of the lever arrangement (20) extends along the first horizontal direction (X), wherein the force detecting device further comprises: a fixed plate (8), wherein the substrate (7) is movably mounted on the fixed plate (8) and is movable relative to the fixed plate (8) in a second horizontal direction (Y) perpendicular to the first horizontal direction (X); and a position adjusting device (9) mounted on the fixed plate (8) such that the substrate (7) is movable along the second horizontal direction (Y) to adjust the position of the substrate (7) in the second horizontal direction (Y). [13] The force detecting device according to claim 12, wherein the position adjusting device (9) comprises: a second threaded rod (91) rotatably mounted on the fixed plate (8); and a second nut (92) screwed onto the second threaded rod (91), wherein the second nut (92) is fixed to the substrate (7) such that the second nut (92) and the substrate (7) can be driven to move along the second horizontal direction (Y) by rotating the second threaded rod (91). [14] The force detecting device according to claim 13, wherein the position adjusting device (9) further comprises: a second locking member (93) movably mounted on the fixed plate (8), wherein, when the second locking member (93) is displaced to a locking position, the second locking member (93) engages with the second threaded rod (91) to prevent rotation of the second threaded rod (91); wherein, when the second locking element (93) is moved to an unlocked position, the second locking element (93) is separated from the second threaded rod (91) so that rotation of the second threaded rod (91) is possible. [15] A force detection system with: the force detection device according to any one of claims 1-14; and a movement device which serves to drive the force detection device to carry out a movement relative to the detected object (51), wherein the detected object (51) is a wire soldered to a circuit board (52), and the force detecting device is for detecting whether the wire is subject to unreliable soldering; wherein, if the wire is subject to unreliable soldering, the wire is detached from the circuit board (52) under the pressure of the lever arrangement (20), which causes the thrust force change curve detected by the force sensor (3) to differ from the predetermined thrust force change curve, wherein the force detection system determines whether the wire is subject to unreliable soldering based on the thrust force change curve detected by the force sensor (3); wherein the predetermined thrust force change curve refers to the thrust force change curve detected by the force sensor (3) when the welding quality of the wire is reliable.

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