Force sensing device and force sensor

1 . A force sensing device, comprising:

a top cover comprising:

a sphere;

a peripheral edge;

a peripheral wall;

a top wall which is connected to the top of the peripheral wall; and

a connecting post which is connected to the top wall and extends downwards from the top wall, the sphere is connected to a lower end of the connecting post, and the peripheral edge is connected to the outer side of the bottom of the peripheral wall;

a base comprising a cylindrical body and a flange for fixing to a housing of a force sensor, an installation hole is formed in the cylindrical body for receiving the sphere, the sphere being rotatable within the installation hole such that the top cover is capable of being rotated relative to the base around the center of the sphere to a predetermined tilt position when subjected to an off-axis overload that deviates from its central axis; and

an elastic body which is compressed between the top cover and the base, wherein:

when no load is applied to the top cover, a predetermined distance is separated between the peripheral edge of the top cover and the flange of the base to allow the top cover to be moved relative to the base; and

when the top cover is rotated to the predetermined tilt position, the peripheral edge of the top cover leans against the flange of the base to transmit the off-axis overload to the housing of the force sensor.

2 . The force sensing device according to claim 1 , wherein the central axis of the top cover coincides with the central axis of the connecting post and the installation hole and passes through the center of the sphere.

3 . The force sensing device according to claim 2 , wherein the diameter of the connecting post is smaller than the diameter of the sphere and the connecting post is adapted such that it will not come into contact with an edge of a top opening of the installation hole during the rotation of the top cover relative to the base.

4 . The force sensing device according to claim 1 , wherein at least a portion of the connecting post extends into the installation hole of the base.

5 . The force sensing device according to claim 4 , wherein a convex portion is formed on the inner side of the top wall, and the upper end of the connecting post is connected to the convex portion.

6 . The force sensing device according to claim 1 , wherein the diameter of the sphere is equal to or smaller than the inner diameter of the installation hole.

7 . The force sensing device according to claim 1 , wherein at least one of the outer surface of the sphere or the inner surface of the installation hole are smooth surfaces.

8 . The force sensing device according to claim 1 , wherein the base further comprises:

a circumferential wall; and

a bottom wall which is connected to the bottom of the circumferential wall.

9 . The force sensing device according to claim 8 , wherein the cylindrical body is connected to the bottom wall and extends upwards from the bottom wall, and the flange is connected to the outer side of the top of the circumferential wall.

10 . The force sensing device according to claim 9 , wherein the cylindrical body comprises:

a first cylindrical part, a lower end of which is connected to the bottom wall; and

a second cylindrical part, a lower end of which is connected to the upper end of the first cylindrical part.

11 . The force sensing device according to claim 10 , wherein:

the diameter of the first cylindrical part is greater than the diameter of the second cylindrical part, so that the upper end face of the first cylindrical part extends radially beyond the outer peripheral surface of the second cylindrical part; and

the first cylindrical part and the second cylindrical part are coaxial, and the installation hole runs axially through the first cylindrical part and the second cylindrical part.

12 . The force sensing device according to claim 11 , wherein the elastic body is in a hollow cylindrical shape, and the second cylindrical part of the cylindrical body is inserted into a central through-hole of the elastic body in an interference fit manner.

13 . The force sensing device according to claim 12 , wherein the lower end of the elastic body is against the upper end face of the first cylindrical part, and the upper end of the elastic body is against the inner side of the top wall.

14 . The force sensing device according to claim 11 , wherein the bottom wall includes a thin-walled part located between the cylindrical body and the circumferential wall, and the thickness of the thin-walled part is smaller than the thickness of the other part of the bottom wall except for the thin-walled part, causing the thin-walled part to undergo elastic deformation when subjected to load.

15 . A force sensor, comprising:

a housing;

a force sensing device, including:

a top cover comprising a sphere and a peripheral edge;

a base comprising a cylindrical body having a circumferential wall, a bottom wall and a flange fixing the device to the housing, an installation hole is formed in the cylindrical body for receiving the sphere, the sphere being rotatable within the installation hole such that the top cover is capable of being rotated relative to the base around the center of the sphere to a predetermined tilt position when subjected to an off-axis overload that deviates from its central axis; and

an elastic body which is compressed between the top cover and the base, wherein:

when no load is applied to the top cover, a predetermined distance is separated between the peripheral edge of the top cover and the flange of the base to allow the top cover to be moved relative to the base; and

when the top cover is rotated to the predetermined tilt position, the peripheral edge of the top cover leans against the flange of the base to transmit the off-axis overload to the housing of the force sensor; and

a strain gauge which is attached to a bottom surface of a thin-walled part of the bottom wall of the base for detecting the strain of the thin-walled part.

16 . The force sensor according to claim 15 , further comprising:

a circuit board installed in the housing and electrically connected to the strain gauge for converting the strain detected by the strain gauge into a corresponding electrical signal.

17 . The force sensor according to claim 16 , further comprising a signal terminal, which is electrically connected to the circuit board and extends out of the housing.

18 . The force sensor according to claim 17 , wherein the signal terminal is used to output the electrical signal corresponding to the strain, so as to calculate the load applied to the top cover based on the output electrical signal.

19 . A force sensing device, comprising:

a top cover comprising a sphere and a peripheral edge;

a base comprising:

a circumferential wall;

a bottom wall which is connected to the bottom of the circumferential wall; and

a cylindrical body and a flange for fixing to a housing of a force sensor, an installation hole is formed in the cylindrical body for receiving the sphere, the sphere being rotatable within the installation hole such that the top cover is capable of being rotated relative to the base around the center of the sphere to a predetermined tilt position when subjected to an off-axis overload that deviates from its central axis; and

an elastic body which is compressed between the top cover and the base, wherein:

when no load is applied to the top cover, a predetermined distance is separated between the peripheral edge of the top cover and the flange of the base to allow the top cover to be moved relative to the base; and

when the top cover is rotated to the predetermined tilt position, the peripheral edge of the top cover leans against the flange of the base to transmit the off-axis overload to the housing of the force sensor,

wherein the cylindrical body is connected to the bottom wall and extends upwards from the bottom wall, and the flange is connected to the outer side of the top of the circumferential wall.