TWI841318B

TWI841318B - Load cell

Info

Publication number: TWI841318B
Application number: TW112111014A
Authority: TW
Inventors: 吳一鳴; 朱彥仕; 呂杰鍠
Original assignee: 台達電子工業股份有限公司
Filing date: 2023-03-24
Publication date: 2024-05-01

Abstract

A load cell for a man shaft is disclosed and includes a bearing base and a sensing unit. The bearing seat is arranged along an axial direction and includes a first bearing portion, a second bearing portion and a connection portion. The first bearing portion and the second bearing portion are spatially corresponding to each other, and the first bearing portion and the second bearing portion are disposed concentrically in view of the axial direction. The connection portion is connected between the first bearing portion and the second bearing portion. The connection portion includes a plurality of necked sections. The sensing unit is disposed on the bearing seat and configured to measure a deformation of the connection portion when the bearing seat is subjected to an external force, so as to output a measurement value of the external force. measurement value.

Description

力量感測器Force sensor

本案件關於一種力量感測器，尤指一種主軸用的力量感測器，利用感測區域的特殊設計，保有感測力量的高解析度，達成節省組裝與產品成本、提高產品穩定度以及產品輕量化等目的。 This case is about a force sensor, especially a force sensor for a spindle, which uses a special design of the sensing area to maintain high resolution of sensing force, thereby achieving the goals of saving assembly and product costs, improving product stability, and making the product lighter.

力量感測器之功能是將張力、壓力或扭矩力之類的力量轉換為可以測量且和標準化的電子信號。隨著施加到力量感測器上的作用力增加，電子信號會按比例變化。其中應變規力量感測器(Strain gauge load cell)是工業環境中最常見的一種力量感測器，因為它具有準確性高、功能性多和成本效益佳等優點。傳統應變規力量感測器之結構包含有彈性體以及應變規，應變規固定於彈性體的彈性樑上。彈性體例如由鋁、合金鋼或不銹鋼所製成，這使其非常堅固但彈性也最小。當力量感測器上受力時，彈性體的彈性樑會輕微變形，而設置於彈性樑上的應變規也會改變形狀，進而改變應變規中的電阻。利用應變規中電阻的變化，可以測量為電壓。由於電壓的變化與施加到力量感測器上的力成正比，因此可以從力量感測器的輸出中計算出力的大小。 The function of a force sensor is to convert forces such as tension, pressure or torque into an electronic signal that can be measured and standardized. As the force applied to the force sensor increases, the electronic signal changes proportionally. Among them, the strain gauge load cell is the most common type of force sensor in industrial environments because of its high accuracy, multi-functionality and cost-effectiveness. The structure of a traditional strain gauge force sensor includes an elastic body and a strain gauge, which is fixed to the elastic beam of the elastic body. The elastic body is made of aluminum, alloy steel or stainless steel, which makes it very strong but also has minimal elasticity. When a force is applied to the force sensor, the elastic beam of the elastic body will be slightly deformed, and the strain gauge set on the elastic beam will also change shape, thereby changing the resistance in the strain gauge. The change in resistance in the strain gauge can be measured as voltage. Since the change in voltage is proportional to the force applied to the force sensor, the magnitude of the force can be calculated from the output of the force sensor.

傳統的力量感測器係於一特定方向進行力量感測。例如伺服壓床軸用感測器即結合上下兩個軸承形成三件式組件。其中主軸用的力量感測器係夾設於兩個軸承座之間時，必須通過複雜的工序進行組裝，且鎖附於器件時需精準控制接合面的平行度。一旦感測器安裝不理想，將影響到力量感測器的量測精度。 Traditional force sensors measure force in a specific direction. For example, the sensor for the servo press shaft combines the upper and lower bearings to form a three-piece assembly. The force sensor for the main shaft is sandwiched between two bearing seats. It must be assembled through complex processes, and the parallelism of the joint surface must be precisely controlled when it is locked to the device. If the sensor is not installed well, it will affect the measurement accuracy of the force sensor.

有鑑於此，實有必要提供一種主軸用的力量感測器，利用感測區域的特殊設計，保有感測力量的高解析度，達成節省組裝與產品成本、提高產品穩定度以及產品輕量化等目的，並解決前述問題。 In view of this, it is necessary to provide a force sensor for the spindle, which uses the special design of the sensing area to maintain high resolution of sensing force, so as to achieve the goals of saving assembly and product costs, improving product stability and product lightweight, and solve the above-mentioned problems.

本案之目的在於提供一種主軸用的力量感測器，利用感測區域的特殊設計，保有感測力量的高解析度，達成節省組裝與產品成本、提高產品穩定度以及產品輕量化等目的。 The purpose of this case is to provide a force sensor for the spindle, which uses the special design of the sensing area to maintain high resolution of sensing force, thereby achieving the goals of saving assembly and product costs, improving product stability, and making the product lighter.

本案之另一目的在於提供一種主軸用的力量感測器。其中感測器集成軸承座形成單件式結構設計，透過更改主應變方向，巧妙將力量感測器整合於軸承座內，具有便於安裝之特性，同時體現組裝與製造低成本之優勢。另一方面，連接部設置於兩軸承座之間，沿軸向堆疊設置，且兩軸承座之間更設置一擋止件。對應兩軸承座之間連接部的變形，擋止件與固定端的軸承座之間更形成一間隙，使連接部的變形得以在一定的空間內產生。而通過擋止件的支撐和限制變形的作用下，更可避免力量感測器因過載負荷變形而損壞。 Another purpose of this case is to provide a force sensor for a main shaft. The sensor is integrated with the bearing seat to form a one-piece structural design. By changing the main strain direction, the force sensor is cleverly integrated into the bearing seat, which has the characteristics of easy installation and the advantages of low assembly and manufacturing costs. On the other hand, the connecting part is arranged between the two bearing seats, stacked along the axial direction, and a stopper is arranged between the two bearing seats. Corresponding to the deformation of the connecting part between the two bearing seats, a gap is formed between the stopper and the bearing seat at the fixed end, so that the deformation of the connecting part can be generated within a certain space. And through the support and deformation restriction of the stopper, the force sensor can be prevented from being damaged due to overload deformation.

為達前述目的，本案提供一種力量感測器包括軸承座以及感測單元。軸承座沿軸向設置，且包括第一軸承部、第二軸承部以及連接部。第一軸承部以及第二軸承部於空間上彼此相對，且第一軸承部與第二軸承部沿軸向的視向上呈同心設置。連接部連接於第一軸承部以及第二軸承部之間，其中連接部具有複數個頸縮段。感測單元設置於軸承座，組配於軸承座受一外力作用時量測連接部的變形，以輸出一外力測量值。 To achieve the above-mentioned purpose, the present invention provides a force sensor including a bearing seat and a sensing unit. The bearing seat is arranged axially and includes a first bearing portion, a second bearing portion and a connecting portion. The first bearing portion and the second bearing portion are spatially opposite to each other, and the first bearing portion and the second bearing portion are concentrically arranged in the axial direction. The connecting portion is connected between the first bearing portion and the second bearing portion, wherein the connecting portion has a plurality of necking sections. The sensing unit is arranged on the bearing seat, and is assembled to measure the deformation of the connecting portion when the bearing seat is subjected to an external force, so as to output an external force measurement value.

於一實施例中，連接部更具有連接段，位於複數個頸縮段之間，其中連接段的截面積大於複數個頸縮段的截面積。 In one embodiment, the connecting portion further has a connecting section located between a plurality of neck contraction sections, wherein the cross-sectional area of the connecting section is larger than the cross-sectional area of the plurality of neck contraction sections.

於一實施例中，複數個頸縮段包括至少一第一頸縮段位於第一軸承部與連接段之間以及至少一第二頸縮段位於第二軸承部與連接段之間，其中至少一第一頸縮段以及至少一第二頸縮段分別呈一向內凹陷狀。 In one embodiment, the plurality of neck contraction sections include at least one first neck contraction section located between the first bearing portion and the connecting section and at least one second neck contraction section located between the second bearing portion and the connecting section, wherein the at least one first neck contraction section and the at least one second neck contraction section are each in an inwardly concave shape.

於一實施例中，連接段沿軸向具有一中間長度，至少一第一頸縮段沿軸向具有一第一長度，其中中間長度/第一長度的比值範圍介於2至5之間。 In one embodiment, the connecting section has a middle length in the axial direction, and at least one first necked section has a first length in the axial direction, wherein the ratio of the middle length/first length ranges from 2 to 5.

於一實施例中，連接段沿該軸向具有一中間長度，至少一第二頸縮段沿軸向具有一第二長度，其中中間長度/第二長度的比值範圍介於1.1至5之間。 In one embodiment, the connecting section has a middle length along the axial direction, and at least one second necked section has a second length along the axial direction, wherein the ratio of the middle length/the second length ranges from 1.1 to 5.

於一實施例中，第一軸承部為一固定端，第二軸承部為一受力端，至少一第一頸縮段沿軸向具有一第一長度，至少一第二頸縮段沿軸向具有一第二長度，第一長度小於第二長度。 In one embodiment, the first bearing portion is a fixed end, the second bearing portion is a force-bearing end, at least one first neck contraction section has a first length along the axial direction, at least one second neck contraction section has a second length along the axial direction, and the first length is less than the second length.

於一實施例中，第一軸承部為一固定端，第二軸承部為一受力端，至少一第一頸縮段的曲率大於至少一第二頸縮段的曲率。 In one embodiment, the first bearing portion is a fixed end, the second bearing portion is a force-bearing end, and the curvature of at least one first neck contraction section is greater than the curvature of at least one second neck contraction section.

於一實施例中，連接部包括至少兩平面，設置於連接段，其中感測單元包括至少兩應變規，分別貼設於至少兩平面上。 In one embodiment, the connecting portion includes at least two planes disposed on the connecting section, wherein the sensing unit includes at least two strain gauges, respectively attached to at least two planes.

於一實施例中，連接段呈一圓凸面。 In one embodiment, the connecting section is a round convex surface.

於一實施例中，力量感測器更包括擋止件，設置於第一軸承部以及第二軸承部之間，其中第一軸承部為一固定端，第二軸承部為一受力端，擋止件的一端連接第二軸承部，擋止件的另一端與第一軸承部形成一間隙。 In one embodiment, the force sensor further includes a stopper, which is disposed between the first bearing portion and the second bearing portion, wherein the first bearing portion is a fixed end, the second bearing portion is a force-bearing end, one end of the stopper is connected to the second bearing portion, and the other end of the stopper forms a gap with the first bearing portion.

於一實施例中，間隙具有一間隔距離，間隔距離與外力成反比，且當間隔距離為零時，外力大於特定範圍，擋止件支撐於第一軸承部以及第二軸承部之間，俾以限制連接部的變形。 In one embodiment, the gap has a spacing distance, the spacing distance is inversely proportional to the external force, and when the spacing distance is zero, the external force is greater than a specific range, and the stopper is supported between the first bearing part and the second bearing part to limit the deformation of the connecting part.

1:力量感測器 1: Force sensor

10:軸承座 10: Bearing seat

10a:未銑軸承座 10a: Unmilled bearing seat

11:第一軸承部 11: First bearing part

111:限位面 111: Limiting surface

12:第二軸承部 12: Second bearing part

121:頂面 121: Top

13:連接部 13: Connection part

131:第一頸縮段 131: First cervical contraction

132:第二頸縮段 132: Second cervical contraction

133:連接段 133: Connection section

134:平面 134: Plane

14:中空部 14: Hollow part

15:鎖固件 15: Lock firmware

20:感測單元 20: Sensing unit

21:感測模組 21:Sensor module

22:應變規 22: Strain gauge

30:擋止件 30: Stopper

31:頂端 31: Top

32:底端 32: Bottom

AA’、BB’、CC’、DD’、EE’、FF’:線段 AA’, BB’, CC’, DD’, EE’, FF’: line segments

C1、C2:曲率 C1, C2: curvature

G:間隙 G: Gap

H1:第一長度 H1: First length

H2:第二長度 H2: Second length

Hm:中間長度 Hm: middle length

J:軸向 J: Axial direction

P:區域 P: Area

X、Y、Z:軸 X, Y, Z: axis

第1圖係揭示本案較佳實施例之力量感測器的立體結構圖。 Figure 1 is a three-dimensional structural diagram of a force sensor according to a preferred embodiment of the present invention.

第2圖係揭示本案較佳實施例之力量感測器的結構分解圖。 Figure 2 is a structural exploded view of the force sensor of the preferred embodiment of the present invention.

第3圖係揭示本案較佳實施例之力量感測器的側視圖。 Figure 3 is a side view of a force sensor according to a preferred embodiment of the present invention.

第4圖係揭示本案軸承座的連接部尚未銑出平面供應變規設置之結構示意圖。 Figure 4 is a schematic diagram showing the structure of the bearing seat in this case where the connecting part has not yet been milled out to provide a flat surface for strain gauge setting.

第5A圖係揭示第4圖中連接部的第一頸縮段沿AA’線段所得之截面示意圖。 Figure 5A is a schematic cross-sectional view of the first necked section of the connecting portion in Figure 4 taken along the AA’ line segment.

第5B圖係揭示第4圖中連接部的連接段沿BB’線段所得之截面示意圖。 Figure 5B is a schematic cross-sectional view of the connecting section of the connecting portion in Figure 4 taken along the BB’ line segment.

第5C圖係揭示第4圖中連接部的第二頸縮段沿AA’線段所得之截面示意圖。 Figure 5C is a schematic cross-sectional view of the second necked section of the connecting portion in Figure 4 taken along the AA’ line segment.

第6圖係揭示本案軸承座的連接部銑出四個平面供四個應變規設置之結構示意圖。 Figure 6 is a schematic diagram showing the structure of the bearing seat in this case with four planes milled out of the connection part for the four strain gauges to be set.

第7A圖係揭示第6圖中連接部的第一頸縮段沿DD’線段所得之截面示意圖。 Figure 7A is a schematic cross-sectional view of the first neck-shrinking section of the connecting portion in Figure 6 along the DD’ line segment.

第7B圖係揭示第6圖中連接部的連接段沿EE’線段所得之截面示意圖。 Figure 7B is a schematic cross-sectional view of the connecting section of the connecting portion in Figure 6 taken along the EE’ line segment.

第7C圖係揭示第6圖中連接部的第二頸縮段沿FF’線段所得之截面示意圖。 Figure 7C is a schematic cross-sectional view of the second necked section of the connecting portion in Figure 6 taken along the FF’ line segment.

第8圖係揭示本案軸承座的連接部中第一頸縮段、連接段以及第二頸縮段之間的尺寸對應關係。 Figure 8 shows the dimensional correspondence between the first neck-shrink section, the connecting section, and the second neck-shrink section in the connecting portion of the bearing seat of this case.

第9圖係揭示第8圖中區域P的放大圖。 Figure 9 is an enlarged view of area P in Figure 8.

體現本案特徵與優點的一些典型實施例將在後段的說明中詳細敘述。應理解的是本案能夠在不同的態樣上具有各種的變化，其皆不脫離本案的範圍，且其中的說明及圖式在本質上係當作說明之用，而非用於限制本案。例如，若是本揭露以下的內容叙述了將一第一特徵設置於一第二特徵之上或上方，即表示其包含了所設置的上述第一特徵與上述第二特徵是直接接觸的實施例，亦包含了尚可將附加的特徵設置於上述第一特徵與上述第二特徵之間，而使上述第一特徵與上述第二特徵可能未直接接觸的實施例。另外，本揭露中不同實施例可能使用重複的參考符號及/或標記。這些重複系為了簡化與清晰的目的，並非用以限定各個實施例及/或所述外觀結構之間的關係。再者，為了方便描述圖式中一組件或特徵部件與另一(複數)組件或(複數)特徵部件的關係，可使用空間相關用語，例如“上”、“下”、“內”、“外”、“頂”、“底”及類似的用語等。除了圖式所繪示的方位之外，空間相關用語用以涵蓋使用或操作中的裝置的不同方位。所述裝置也可被另外定位(例如，旋轉90度或者位於其他方位)，並對應地解讀所使用的空間相關用語的描述。此外，當將一組件稱為“連接到”或“耦合到”另一組件時，其可直接連接至或耦合至另一組件，或者可存在介入組件。儘管本揭露的廣義範圍的數值範圍及參數為近似值，但盡可能精確地在具體實例中陳述數值。另外，可理解的是，雖然「第一」、「第二」、「第三」等用詞可被用於申請專利範圍中以描述不同的組件，但這些組件並不應被這些用語所限制，在實施例中相應描述的這些組件是以不同的組件符號來表示。這些用語是為了分別不同組件。例如：第一組件可被稱為第二組件，相似地，第二組件也可被稱為第一組件而不會脫離實施例的範圍。如此所使用的用語「及/或」包含了一或多個相關列出的項目的任何或全部組合。除在操作/工作實例中以外，或除非明確規定，否則本文中所揭露的所有數值範圍、量、值及百分比(例如角度、時間持續、溫度、操作條件、量比及其類似者的那些百分比等)應被理解為在所有實施例中由用語”大約”或”實質上”來修飾。相應地，除非相反地指示，否則本揭露及隨附申請專利範圍中陳述的數值參數為可視需要變化的近似值。例如，每一數值參數應至少根據所述的有效數字的數字且借由應用普通捨入原則來解釋。範圍可在本文中表達為從一個端點到另一端點或在兩個端點之間。本文中所揭露的所有範圍包括端點，除非另有規定。 Some typical embodiments that embody the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various variations in different aspects, all of which do not deviate from the scope of the present invention, and the descriptions and drawings therein are essentially used for illustrative purposes rather than for limiting the present invention. For example, if the following content of the present disclosure describes that a first feature is disposed on or above a second feature, it means that it includes an embodiment in which the first feature and the second feature are directly in contact, and also includes an embodiment in which the additional feature can be disposed between the first feature and the second feature, so that the first feature and the second feature may not be in direct contact. In addition, different embodiments in the present disclosure may use repeated reference symbols and/or marks. These repetitions are for the purpose of simplification and clarity and are not intended to limit the relationship between the various embodiments and/or the described appearance structures. Furthermore, in order to conveniently describe the relationship between a component or feature and another (plural) component or (plural) feature in the drawings, spatially related terms such as "upper", "lower", "inside", "outside", "top", "bottom" and similar terms may be used. In addition to the orientations shown in the drawings, spatially related terms are used to cover different orientations of the device in use or operation. The device may also be positioned otherwise (e.g., rotated 90 degrees or in other orientations), and the description of the spatially related terms used may be interpreted accordingly. In addition, when a component is referred to as being "connected to" or "coupled to" another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Although the numerical ranges and parameters of the broad scope of the present disclosure are approximate, the numerical values are stated as accurately as possible in the specific examples. In addition, it is understood that although the terms "first", "second", "third", etc. may be used in the scope of the patent application to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are represented by different component symbols. These terms are for distinguishing different components. For example: the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component without departing from the scope of the embodiments. The term "and/or" used in this way includes any or all combinations of one or more of the related listed items. Except in the operating/working examples, or unless expressly specified, all numerical ranges, quantities, values and percentages disclosed herein (such as those percentages of angles, time durations, temperatures, operating conditions, quantitative ratios and the like, etc.) should be understood as being modified by the term "approximately" or "substantially" in all embodiments. Accordingly, unless otherwise indicated, the numerical parameters stated in the present disclosure and the accompanying patent application ranges are approximate values that can be varied as necessary. For example, each numerical parameter should be interpreted at least according to the number of significant figures stated and by applying ordinary rounding principles. Ranges may be expressed herein as from one end point to another or between two end points. All ranges disclosed herein include the end points unless otherwise specified.

第1圖係揭示本案較佳實施例之力量感測器的立體結構圖。第2圖係揭示本案較佳實施例之力量感測器的結構分解圖。第3圖係揭示本案較佳實施例之力量感測器的側視圖。如第1圖至第3圖所示，本案之力量感測器1例如應用於伺服壓床主軸的力量感測，包括軸承座10以及感測單元20。軸承座10沿軸向J設置，採單件式結構設計，且包括第一軸承部11、第二軸承部12以及連接部13。於本實施例中，第一軸承部11以及第二軸承部12於空間上彼此相對。其中第一軸承部11與第二軸承部12沿例如軸向J(即Z軸方向)的方向堆疊設置，且第一軸承部11與第二軸承部12沿軸向J的視向上呈同心設置。需說明的是，第一軸承部11與第二軸承部12係分別組配供伺服壓床主軸上兩軸承連接設置，故在軸向J的視向上彼此呈同心圓設置。於本實施例中，連接部13連接於第一軸承部11以及第二軸承部12之間，其中連接部13至少具有複數個頸縮段131、132，非採純圓柱設計。感測單元20包括感測模組21與應變規22，分別設置於軸承座10，組配於軸承座10受一外力作用時量測連接部13的變形，以輸出一外力測量值。 FIG. 1 is a three-dimensional structural diagram of a force sensor according to a preferred embodiment of the present invention. FIG. 2 is a structural exploded diagram of a force sensor according to a preferred embodiment of the present invention. FIG. 3 is a side view of a force sensor according to a preferred embodiment of the present invention. As shown in FIG. 1 to FIG. 3, the force sensor 1 of the present invention is used, for example, for force sensing of a main shaft of a servo press machine, and includes a bearing seat 10 and a sensing unit 20. The bearing seat 10 is arranged along the axial direction J, adopts a one-piece structural design, and includes a first bearing portion 11, a second bearing portion 12, and a connecting portion 13. In this embodiment, the first bearing portion 11 and the second bearing portion 12 are spatially opposite to each other. The first bearing part 11 and the second bearing part 12 are stacked in a direction such as the axial direction J (i.e., the Z-axis direction), and the first bearing part 11 and the second bearing part 12 are concentrically arranged in the visual direction of the axial direction J. It should be noted that the first bearing part 11 and the second bearing part 12 are respectively assembled and connected to the two bearings on the main shaft of the servo press, so they are concentrically arranged in the visual direction of the axial direction J. In this embodiment, the connecting part 13 is connected between the first bearing part 11 and the second bearing part 12, wherein the connecting part 13 has at least a plurality of neck sections 131, 132, and is not a pure cylindrical design. The sensing unit 20 includes a sensing module 21 and a strain gauge 22, which are respectively disposed on the bearing seat 10 and assembled to measure the deformation of the connecting portion 13 when the bearing seat 10 is subjected to an external force, so as to output an external force measurement value.

於本實施例中，第一軸承部11、第二軸承部12以及連接部13例如是由鋁、合金鋼或不銹鋼所製成，一體成型。第一軸承部11、連接部13以及第二軸承部12均呈一環狀體結構，軸承座10的中空部14沿軸向貫穿第一軸承部11、連接部13以及第二軸承部12。即第一軸承部11、連接部13以及第二軸承部12依序沿軸向J堆疊設置。應用於伺服壓床主軸的力量感測時，力量感測器1沿軸向的兩相反端分別為一固定端與一受力端。以第一軸承部11為固定端，第二軸承部12為受力端作說明，當外力由下向上沿著例如Z軸方向施加於力量感測器1的第二軸承部12時，第二軸承部12相對第一軸承部11位移，夾設於第一軸承部11與第二軸承部12之間的連接部13則略微變形，但不致於過載負荷，以於變形後回復其原始形狀。當連接部13相應變形時，感測單元20通過感測模組21與應變規22量測連接部13的變形，即可輸出外力測量值。值得注意的是，連接部13上更設置有複數個頸縮段131、132。當外力沿著例如Z軸方向施加於力量感測器1的第二軸承部12時，連接部13通過複數個頸縮段131、132的設計，更有助於提昇感測單元20的量測解析度。 In this embodiment, the first bearing part 11, the second bearing part 12 and the connecting part 13 are made of aluminum, alloy steel or stainless steel, and are integrally formed. The first bearing part 11, the connecting part 13 and the second bearing part 12 are all annular structures, and the hollow part 14 of the bearing seat 10 axially penetrates the first bearing part 11, the connecting part 13 and the second bearing part 12. That is, the first bearing part 11, the connecting part 13 and the second bearing part 12 are stacked in sequence along the axial direction J. When applied to the force sensing of the main shaft of the servo press machine, the two opposite ends of the force sensor 1 along the axial direction are respectively a fixed end and a force-bearing end. Taking the first bearing part 11 as the fixed end and the second bearing part 12 as the force-bearing end for illustration, when the external force is applied to the second bearing part 12 of the force sensor 1 from bottom to top along the Z-axis direction, for example, the second bearing part 12 is displaced relative to the first bearing part 11, and the connecting part 13 sandwiched between the first bearing part 11 and the second bearing part 12 is slightly deformed, but not overloaded, so as to restore its original shape after deformation. When the connecting part 13 is deformed accordingly, the sensing unit 20 measures the deformation of the connecting part 13 through the sensing module 21 and the strain gauge 22, and outputs the external force measurement value. It is worth noting that a plurality of necking sections 131, 132 are provided on the connecting part 13. When an external force is applied to the second bearing portion 12 of the force sensor 1 along the Z-axis direction, for example, the connection portion 13 is designed with a plurality of necking sections 131 and 132, which further helps to improve the measurement resolution of the sensing unit 20.

於本實施例中，連接部13更具有連接段133，位於複數個頸縮段131、132之間，於空間上相對於應變規22。換言之，由金屬線或金屬片所構成的應變規22呈網格狀設置，通過將應變規22貼設於連接部13的連接段133，感測單元20即可架設電路，組配將軸承座10所受的外力轉換成電子信號。於本實施例中，複數個頸縮段131、132包括至少一第一頸縮段131位於第一軸承部11與連接段133之間，以及至少一第二頸縮段132位於第二軸承部12與連接段133之間。其中至少一第一頸縮段131以及至少一第二頸縮段132分別呈一向內凹陷狀。相較於單純圓柱設計，感測單元20的應變規22更組配量測複數個頸縮131、132間連接段133的變形，有助於提昇力量感測器1的壓縮應變、拉伸應變以及解析度。於本實施例中，四個應變規22可例如呈放射狀排列設置於連接段133，且設置成一橋式電路(未圖示)，當應變規22的形狀隨著連接段133的變形而改變時，其對應的電阻即發生變化。而感測模組21計算應變規22所對應電阻變化的結果即可測量出電壓。該電壓的變化便與施加到力量感測器1上的外力成正比。因此，所施加的外力的量值可由力量感測器1的輸出來計算。於一實施例中，感測單元20包括至少兩個應變規22。為貼設應變規22，軸承座10的連接部13可銑出至少兩平面134，設置於連接段133，彼此呈90度或180度相對。其中感測單元20的至少兩應變規22則可分別貼設於至少兩平面134上。於其他實施例中，應變規22與平面134的數量以及排列方式均可視實際應用需求調變。當然，本案並不受限於此。 In this embodiment, the connection part 13 further has a connection section 133, which is located between the plurality of neck sections 131, 132 and is spatially relative to the strain gauge 22. In other words, the strain gauge 22 composed of metal wires or metal sheets is arranged in a grid shape. By attaching the strain gauge 22 to the connection section 133 of the connection part 13, the sensing unit 20 can set up a circuit and assemble to convert the external force on the bearing seat 10 into an electronic signal. In this embodiment, the plurality of neck sections 131, 132 include at least one first neck section 131 located between the first bearing part 11 and the connection section 133, and at least one second neck section 132 located between the second bearing part 12 and the connection section 133. At least one first neck section 131 and at least one second neck section 132 are respectively in an inwardly concave shape. Compared with a simple cylindrical design, the strain gauge 22 of the sensing unit 20 is further configured to measure the deformation of a plurality of connecting sections 133 between the necks 131 and 132, which helps to improve the compressive strain, tensile strain and resolution of the force sensor 1. In this embodiment, four strain gauges 22 can be arranged radially on the connecting section 133, and are configured to form a bridge circuit (not shown). When the shape of the strain gauge 22 changes with the deformation of the connecting section 133, the corresponding resistance changes. The sensing module 21 calculates the resistance change corresponding to the strain gauge 22 to measure the voltage. The change of the voltage is proportional to the external force applied to the force sensor 1. Therefore, the magnitude of the applied external force can be calculated from the output of the force sensor 1. In one embodiment, the sensing unit 20 includes at least two strain gauges 22. To attach the strain gauges 22, the connecting portion 13 of the bearing seat 10 can be milled with at least two planes 134, which are arranged on the connecting section 133 and are 90 degrees or 180 degrees opposite to each other. The at least two strain gauges 22 of the sensing unit 20 can be attached to at least two planes 134 respectively. In other embodiments, the number and arrangement of the strain gauges 22 and the planes 134 can be adjusted according to the actual application requirements. Of course, the present case is not limited to this.

於本實施例中，軸承座10的第一軸承部11、第二軸承部12以及連接部13係一體成型構成後，再與感測單元20一併組裝完成力量測感測器1結構。其中感測單元20的感測模組21例如包括電路板、供電與偏壓擷取器件，通過鎖固方式固定於第二軸承部12。感測單元20的應變規22則需貼附於連接部13的連接段133上。為使應變規22穩固地貼附至連接段133，連接部13可通過機械加工方式銑出一平面134，供應變規22貼附。平面134的尺寸、形狀可視實際應用需求調變，惟應變規22對應量測連接段133的變形均發生於至少一第一頸縮段131以及至少一第二頸縮段132之間。第4圖係揭示本案軸承座的連接部尚未銑出平面供應變規設置之結構示意圖。第5A圖係揭示第4圖中連接部的第一頸縮段沿AA’線段所得之截面示意圖。第5B圖係揭示第4圖中連接部的連接段沿BB’線段所得之截面示意圖。第5C圖係揭示第4圖中連接部的第二頸縮段沿AA’線段所得之截面示意圖。於本實施例中，未銑軸承座10a包括至少一第一頸縮段131以及至少一第二頸縮段132分別呈一向內凹陷狀，連接段133則呈一圓凸面。當連接部13未加工銑出平面134供應變規22貼附時，連接段133的於XY平面的截面積(如第5B圖所示)，大於至少一第一頸縮段131於XY平面的截面積(如第5A圖所示)，亦大於至少一第二頸縮段132於XY平面的截面積(如第5C圖所示)。另外，第6圖係揭示本案軸承座的連接部銑出四個平面供四個應變規設置之結構示意圖。第7A圖係揭示第6圖中連接部的第一頸縮段沿DD’線段所得之截面示意圖。第7B圖係揭示第6圖中連接部的連接段沿EE’線段所得之截面示意圖。第7C圖係揭示第6圖中連接部的第二頸縮段沿FF’線段所得之截面示意圖。當軸承座10的連接部13銑出例如四個相互垂直的平面134，環設於連接段133的周壁，連接段133(包含應變規22貼合平面134)於XY平面的截面積(如第7B圖所示)，仍大於至少一第一頸縮段131於XY平面的截面積(如第7A圖所示)，亦大於至少一第二頸縮段132於XY平面的截面積(如第7C圖所示)。應變規22以水平或垂直貼合至對應平面134時，均可於第一頸縮段131與第二頸縮段132之間，量測軸向J(即Z軸方向)承受外力的變形。需說明的是，連接部13銑出平面134的尺寸、面積可視實際應用需求調變，維持不與中空部14連通，均可確保連接段133的截面積大於第一頸縮段131的截面積以及第二頸縮段132的截面積。換言之，連接部13於第一軸承部11與第二軸承部12之間所架構的應變規22應變感測區域設計至少包括上下第一頸縮段131與第二頸縮段132，以及位於第一頸縮段131與第二頸縮段132之間且截面積較大之連接段133作為應變感測區。 In this embodiment, the first bearing portion 11, the second bearing portion 12 and the connecting portion 13 of the bearing seat 10 are integrally formed and then assembled with the sensing unit 20 to complete the structure of the force measuring sensor 1. The sensing module 21 of the sensing unit 20, for example, includes a circuit board, a power supply and a bias voltage acquisition device, which is fixed to the second bearing portion 12 by a locking method. The strain gauge 22 of the sensing unit 20 needs to be attached to the connecting section 133 of the connecting portion 13. In order to make the strain gauge 22 firmly attached to the connecting section 133, the connecting portion 13 can be machined to form a plane 134 for the strain gauge 22 to be attached. The size and shape of the plane 134 can be adjusted according to the actual application requirements, but the deformation of the strain gauge 22 corresponding to the measuring connection section 133 occurs between at least one first neck contraction section 131 and at least one second neck contraction section 132. FIG. 4 is a schematic diagram of the structure of the bearing seat of the present invention in which the plane has not been milled for the strain gauge. FIG. 5A is a schematic diagram of the cross-section of the first neck contraction section of the connection section along the AA' line segment in FIG. 4. FIG. 5B is a schematic diagram of the cross-section of the connection section of the connection section along the BB' line segment in FIG. 4. FIG. 5C is a schematic diagram of the cross-section of the second neck contraction section of the connection section along the AA' line segment in FIG. 4. In this embodiment, the unmilled bearing seat 10a includes at least one first neck-reduced section 131 and at least one second neck-reduced section 132, each of which is in an inwardly concave shape, and the connecting section 133 is a round convex surface. When the connecting portion 13 is not machined to have a flat surface 134 for the strain gauge 22 to attach, the cross-sectional area of the connecting section 133 in the XY plane (as shown in FIG. 5B) is greater than the cross-sectional area of at least one first neck-reduced section 131 in the XY plane (as shown in FIG. 5A), and is also greater than the cross-sectional area of at least one second neck-reduced section 132 in the XY plane (as shown in FIG. 5C). In addition, FIG. 6 is a schematic diagram of the structure of the bearing seat of this case in which four flat surfaces are milled on the connecting portion for four strain gauges to be set. FIG. 7A is a schematic cross-sectional view of the first necked section of the connection portion in FIG. 6 obtained along the DD’ line segment. FIG. 7B is a schematic cross-sectional view of the connection portion of the connection portion in FIG. 6 obtained along the EE’ line segment. FIG. 7C is a schematic cross-sectional view of the second necked section of the connection portion in FIG. 6 obtained along the FF’ line segment. When the connection portion 13 of the bearing seat 10 is milled with, for example, four mutually perpendicular planes 134, which are arranged around the peripheral wall of the connection section 133, the cross-sectional area of the connection section 133 (including the strain gauge 22 bonding plane 134) in the XY plane (as shown in FIG. 7B) is still greater than the cross-sectional area of at least one first necked section 131 in the XY plane (as shown in FIG. 7A), and is also greater than the cross-sectional area of at least one second necked section 132 in the XY plane (as shown in FIG. 7C). When the strain gauge 22 is attached to the corresponding plane 134 horizontally or vertically, the deformation of the axial J (i.e., the Z-axis direction) under external force can be measured between the first neck-shrinking section 131 and the second neck-shrinking section 132. It should be noted that the size and area of the plane 134 milled out of the connecting portion 13 can be adjusted according to actual application requirements, and the cross-sectional area of the connecting portion 133 can be ensured to be larger than the cross-sectional area of the first neck-shrinking section 131 and the cross-sectional area of the second neck-shrinking section 132 by maintaining the connection with the hollow portion 14. In other words, the strain gauge 22 of the connecting portion 13 constructed between the first bearing portion 11 and the second bearing portion 12 is designed to have a strain sensing area that includes at least the upper and lower first neck contraction sections 131 and the second neck contraction section 132, and the connecting section 133 with a larger cross-sectional area located between the first neck contraction section 131 and the second neck contraction section 132 as the strain sensing area.

另一方面，對應作為固定端的第一軸承部11，以及作為受力端的第二軸承部12，第一頸縮段131與第二頸縮段132更採不同尺寸設計。第8圖係揭示本案軸承座的連接部中第一頸縮段、連接段以及第二頸縮段之間的尺寸對應關係。第9圖係揭示第8圖中區域P的放大圖。參考第1圖至第9圖。於本實施例中，連接部13的連接段133沿軸向J(即Z軸方向)具有一中間長度Hm，而連接部13中至少一第一頸縮段131沿軸向則具有一第一長度H1。其中連接段133的中間長度Hm大於第一頸縮段131的第一長度H1，且中間長度Hm/第一長度H1的比值範圍介於2至5之間。另外，連接部13中至少一第二頸縮段132沿軸向J則具有一第二長度H2。其中連接段133的中間長度Hm大於第二頸縮段132的第二長度H2，且中間長度Hm/第二長度H2的比值範圍介於1.1至5之間。值得注意的是，第一頸縮段131對應連接至作為固定端的第一軸承部11，第二頸縮段132對應連接至作為受力端的第二軸承部12，第一頸縮段131的第一長度H1更小於第二頸縮段132的第二長度H2。此外，第一頸縮段131以及第二頸縮段132分別呈一向內凹陷狀，即圓凹面。其中第一頸縮段131的曲率C1大於第二頸縮段132的曲率C2。藉此，連接部13的第一頸縮段131、連接段133以及第二頸縮段132即可於固定端的第一軸承部11以及受力端的第二軸承部12之間形成特殊設計的感測區域，保有感測力量的高解析度，並達成節省組裝與產品成本、提高產品穩定度以及產品輕量化等目的。於其他實施例中，連接段133分別通過不同數量的第一頸縮段131和第二頸縮段132連接至第一軸承部11和第二軸承部12。其中複數個頸縮段，例如第一頸縮段131和第二頸縮段132於軸向J上的長度互不相等，藉以調變力量感測器1的解析度。當然，本案並不受限於此。 On the other hand, corresponding to the first bearing portion 11 as the fixed end and the second bearing portion 12 as the force-bearing end, the first neck contraction section 131 and the second neck contraction section 132 are designed with different sizes. Figure 8 discloses the size correspondence between the first neck contraction section, the connecting section and the second neck contraction section in the connecting portion of the bearing seat of the present case. Figure 9 discloses an enlarged view of the area P in Figure 8. Refer to Figures 1 to 9. In this embodiment, the connecting section 133 of the connecting portion 13 has a middle length Hm along the axial direction J (i.e., the Z-axis direction), and at least one first neck contraction section 131 in the connecting portion 13 has a first length H1 along the axial direction. The middle length Hm of the connecting section 133 is greater than the first length H1 of the first neck contraction section 131, and the ratio of the middle length Hm/the first length H1 is between 2 and 5. In addition, at least one second neck contraction section 132 in the connecting portion 13 has a second length H2 along the axial direction J. The middle length Hm of the connecting section 133 is greater than the second length H2 of the second neck contraction section 132, and the ratio of the middle length Hm/the second length H2 is between 1.1 and 5. It is worth noting that the first neck contraction section 131 is connected to the first bearing portion 11 as the fixed end, and the second neck contraction section 132 is connected to the second bearing portion 12 as the force-bearing end. The first length H1 of the first neck contraction section 131 is smaller than the second length H2 of the second neck contraction section 132. In addition, the first neck contraction section 131 and the second neck contraction section 132 are respectively in an inwardly concave shape, that is, a circular concave surface. The curvature C1 of the first neck contraction section 131 is greater than the curvature C2 of the second neck contraction section 132. Thus, the first neck contraction section 131, the connecting section 133 and the second neck contraction section 132 of the connecting section 13 can form a specially designed sensing area between the first bearing section 11 at the fixed end and the second bearing section 12 at the force-bearing end, maintaining a high resolution of sensing force, and achieving the purpose of saving assembly and product costs, improving product stability and product lightweighting. In other embodiments, the connecting section 133 is connected to the first bearing section 11 and the second bearing section 12 through different numbers of first neck contraction sections 131 and second neck contraction sections 132, respectively. The lengths of the plurality of neck contraction sections, such as the first neck contraction section 131 and the second neck contraction section 132 in the axial direction J are not equal to each other, so as to adjust the resolution of the force sensor 1. Of course, the present case is not limited to this.

另一方面，參考第1圖至第3圖。於本實施例中，力量感測器1更包括擋止件30，設置於第一軸承部11以及第二軸承部12之間，且環設於連接部13的外圍。當第一軸承部11作為固定端，第二軸承部12作為受力端時，擋止件30的底端32可通過鎖固件15連接固定至第二軸承部12的頂面121，擋止件30的頂端31對應第一軸承部11的限位面111呈凸凹結構設計，使擋止件30的頂端31與第一軸承部11的限位面111之間於軸向J(即Z軸方向)上形成一間隙G。當然，本案並不受限於間隙G的構成方式。於本實施例中，間隙G更具有一間隔距離。當外力由下向上沿著例如Z軸方向施加於力量感測器1的第二軸承部12時，軸承座10的第二軸承部12相對第一軸承部11位移並使連接部13產生變形，且對應間隙G的間隔距離逐漸減小，即間隙G的間隔距離與外力成反比。直到間隙G的間隔距離消失為止，力量感測器1可於特定範圍內精確地測量施加於力量感測器1上的外力。另一方面，當施加於力量感測器1上的外力超過特定範圍時，間隙G的間隔距離完全消失，擋止件30的頂端31支撐第一軸承部11的限位面111，將力量感測器1之軸承座10的連接部13變形限制於一特定空間內。換言之，間隙G的間隔距離係與第二軸承部12所承受的外力成反比。當間隙G的間隔距離為零時，即表示外力大於力量感測器1所限定量測的特定範圍，則擋止件30可於軸承座10的第一軸承部11與第二軸承部12之間提供支撐功能，俾以限制連接部13之變形。然而通過在擋止件30和軸承座10的第一軸承部11之間設計間隙G，力量感測器1可承受過度外力施加於其上而不使力量感測器1的連接部13受損。藉由擋止件30的支撐和限制位移的作用，可避免力量感測器1的連接部13因過度作用力的變形而導致損壞。於其他實施例中，擋止件30可固定於第一軸承部11而與第二軸承部12形成間隙 G。當然，軸承座10的第一軸承部11、連接部13與第二軸承部12以及擋止件30的排列設置可視實際應用需求而調變，本案並不受限於此，且不再贅述。 On the other hand, referring to Figures 1 to 3, in this embodiment, the force sensor 1 further includes a stopper 30, which is disposed between the first bearing portion 11 and the second bearing portion 12 and is disposed around the outer periphery of the connecting portion 13. When the first bearing portion 11 is used as a fixed end and the second bearing portion 12 is used as a force-bearing end, the bottom end 32 of the stopper 30 can be connected and fixed to the top surface 121 of the second bearing portion 12 through the locking member 15, and the top end 31 of the stopper 30 is designed with a convex-concave structure corresponding to the limiting surface 111 of the first bearing portion 11, so that a gap G is formed between the top end 31 of the stopper 30 and the limiting surface 111 of the first bearing portion 11 in the axial direction J (i.e., the Z-axis direction). Of course, the present invention is not limited to the configuration of the gap G. In this embodiment, the gap G further has a spacing distance. When an external force is applied to the second bearing portion 12 of the force sensor 1 from bottom to top along, for example, the Z-axis direction, the second bearing portion 12 of the bearing seat 10 is displaced relative to the first bearing portion 11 and the connecting portion 13 is deformed, and the spacing distance corresponding to the gap G gradually decreases, that is, the spacing distance of the gap G is inversely proportional to the external force. Until the spacing distance of the gap G disappears, the force sensor 1 can accurately measure the external force applied to the force sensor 1 within a specific range. On the other hand, when the external force applied to the force sensor 1 exceeds a specific range, the spacing distance of the gap G completely disappears, and the top end 31 of the stopper 30 supports the limiting surface 111 of the first bearing portion 11, limiting the deformation of the connecting portion 13 of the bearing seat 10 of the force sensor 1 within a specific space. In other words, the spacing distance of the gap G is inversely proportional to the external force borne by the second bearing portion 12. When the spacing distance of the gap G is zero, it means that the external force is greater than the specific range limited by the force sensor 1, and the stopper 30 can provide a supporting function between the first bearing portion 11 and the second bearing portion 12 of the bearing seat 10 to limit the deformation of the connecting portion 13. However, by designing a gap G between the stopper 30 and the first bearing portion 11 of the bearing seat 10, the force sensor 1 can withstand excessive external force applied thereto without damaging the connecting portion 13 of the force sensor 1. The support and displacement limiting function of the stopper 30 can prevent the connecting portion 13 of the force sensor 1 from being damaged due to deformation caused by excessive force. In other embodiments, the stopper 30 can be fixed to the first bearing portion 11 and form a gap G with the second bearing portion 12. Of course, the arrangement of the first bearing portion 11, the connecting portion 13, the second bearing portion 12 and the stopper 30 of the bearing seat 10 can be adjusted according to actual application requirements, and the present case is not limited thereto and will not be elaborated.

綜上所述，本案提供一種主軸用的力量感測器，利用感測區域的特殊設計，保有感測力量的高解析度，達成節省組裝與產品成本、提高產品穩定度以及產品輕量化等目的。其中感測器集成軸承座形成單件式結構設計，透過更改主應變方向，巧妙將力量感測器整合於軸承座內，具有便於安裝之特性，同時體現組裝與製造低成本之優勢。另一方面，連接部設置於兩軸承座之間，沿軸向堆疊設置，且兩軸承座之間更設置一擋止件。對應兩軸承座之間連接部的變形，擋止件與固定端的軸承座之間更形成一間隙，使連接部的變形得以在一定的空間內產生。而通過擋止件的支撐和限制變形的作用下，更可避免力量感測器因過載負荷變形而損壞。 In summary, this case provides a force sensor for a main shaft, which utilizes a special design of the sensing area to maintain a high resolution of sensing force, thereby achieving the goals of saving assembly and product costs, improving product stability, and making the product lightweight. The sensor is integrated into the bearing seat to form a one-piece structural design. By changing the main strain direction, the force sensor is cleverly integrated into the bearing seat, which has the characteristics of being easy to install, while also embodying the advantages of low assembly and manufacturing costs. On the other hand, the connecting portion is arranged between the two bearing seats, stacked axially, and a stopper is further arranged between the two bearing seats. Corresponding to the deformation of the connecting portion between the two bearing seats, a gap is further formed between the stopper and the bearing seat at the fixed end, so that the deformation of the connecting portion can occur within a certain space. The support and deformation restriction of the stopper can prevent the force sensor from being damaged due to overload deformation.

本案得由熟習此技術之人士任施匠思而為諸般修飾，然皆不脫如附申請專利範圍所欲保護者。 This case can be modified in various ways by people familiar with this technology, but it will not deviate from the scope of protection of the attached patent application.

1:力量感測器 1: Force sensor

10:軸承座 10: Bearing seat

11:第一軸承部 11: First bearing part

111:限位面 111: Limiting surface

12:第二軸承部 12: Second bearing part

121:頂面 121: Top

13:連接部 13: Connection part

131:第一頸縮段 131: First cervical contraction

132:第二頸縮段 132: Second cervical contraction

133:連接段 133: Connection section

134:平面 134: Plane

14:中空部 14: Hollow part

15:鎖固件 15: Lock firmware

20:感測單元 20: Sensing unit

21:感測模組 21:Sensor module

22:應變規 22: Strain gauge

30:擋止件 30: Stopper

31:頂端 31: Top

32:底端 32: Bottom

J:軸向 J: Axial direction

X、Y、Z:軸 X, Y, Z: axis

Claims

一種力量感測器，包括：一軸承座，沿一軸向設置，且包括：一第一軸承部；一第二軸承部，於空間上相對於該第一軸承部，且該第一軸承部與該第二軸承部沿該軸向的視向上呈同心設置，其中該第一軸承部為一固定端，該第二軸承部為一受力端；以及一連接部，連接於該第一軸承部以及該第二軸承部之間，其中該連接部具有複數個頸縮段；以及一感測單元，設置於該軸承座，其中該軸承座受一外力沿該軸向作用時，該感測單元量測該連接部的變形，以輸出一外力測量值。 A force sensor comprises: a bearing seat, arranged along an axial direction, and comprising: a first bearing portion; a second bearing portion, spatially relative to the first bearing portion, and the first bearing portion and the second bearing portion are arranged concentrically along the axial direction, wherein the first bearing portion is a fixed end, and the second bearing portion is a force-bearing end; and a connecting portion, connected between the first bearing portion and the second bearing portion, wherein the connecting portion has a plurality of necking sections; and a sensing unit, arranged on the bearing seat, wherein when the bearing seat is subjected to an external force along the axial direction, the sensing unit measures the deformation of the connecting portion to output an external force measurement value.

如請求項1所述的力量感測器，其中該連接部更具有一連接段，位於該複數個頸縮段之間，其中該連接段的截面積大於該複數個頸縮段的截面積。 A force sensor as described in claim 1, wherein the connecting portion further comprises a connecting section located between the plurality of neck contraction sections, wherein the cross-sectional area of the connecting section is larger than the cross-sectional area of the plurality of neck contraction sections.

如請求項2所述的力量感測器，其中該複數個頸縮段包括至少一第一頸縮段位於該第一軸承部與該連接段之間以及至少一第二頸縮段位於該第二軸承部與該連接段之間，其中該至少一第一頸縮段以及該至少一第二頸縮段分別呈一向內凹陷狀。 A force sensor as described in claim 2, wherein the plurality of neck contraction sections include at least one first neck contraction section located between the first bearing portion and the connecting section and at least one second neck contraction section located between the second bearing portion and the connecting section, wherein the at least one first neck contraction section and the at least one second neck contraction section are respectively in an inwardly concave shape.

如請求項3所述的力量感測器，其中該連接段沿該軸向具有一中間長度，該至少一第一頸縮段沿該軸向具有一第一長度，其中該中間長度/該第一長度的比值範圍介於2至5之間。 A force sensor as described in claim 3, wherein the connecting section has a middle length along the axis, and the at least one first neck contraction section has a first length along the axis, wherein the ratio of the middle length to the first length ranges from 2 to 5.

如請求項3所述的力量感測器，其中該連接段沿該軸向具有一中間長度，該至少一第二頸縮段沿該軸向具有一第二長度，其中該中間長度/該第二長度的比值範圍介於1.1至5之間。 A force sensor as described in claim 3, wherein the connecting section has a middle length along the axis, and the at least one second neck section has a second length along the axis, wherein the ratio of the middle length/the second length ranges from 1.1 to 5.

如請求項3所述的力量感測器，其中該至少一第一頸縮段沿該軸向具有一第一長度，該至少一第二頸縮段沿該軸向具有一第二長度，該第一長度小於該第二長度。 A force sensor as described in claim 3, wherein the at least one first cervical contraction segment has a first length along the axial direction, the at least one second cervical contraction segment has a second length along the axial direction, and the first length is less than the second length.

如請求項3所述的力量感測器，其中該至少一第一頸縮段的曲率大於該至少一第二頸縮段的曲率。 A force sensor as described in claim 3, wherein the curvature of the at least one first neck contraction segment is greater than the curvature of the at least one second neck contraction segment.

如請求項2所述的力量感測器，其中該連接部包括至少兩平面，設置於該連接段，其中該感測單元包括至少兩應變規，分別貼設於該至少兩平面上。 A force sensor as described in claim 2, wherein the connecting portion includes at least two planes disposed on the connecting section, and wherein the sensing unit includes at least two strain gauges respectively attached to the at least two planes.

如請求項2所述的力量感測器，其中該連接段呈一圓凸面。 A force sensor as described in claim 2, wherein the connecting section is a convex circular surface.

如請求項1所述的力量感測器，更包括一擋止件，設置於該第一軸承部以及該第二軸承部之間，其中該擋止件的一端連接該第二軸承部，該擋止件的另一端與該第一軸承部形成一間隙。 The force sensor as described in claim 1 further includes a stopper disposed between the first bearing portion and the second bearing portion, wherein one end of the stopper is connected to the second bearing portion, and the other end of the stopper forms a gap with the first bearing portion.

如請求項10所述的力量感測器，其中該間隙具有一間隔距離，該間隔距離與該外力成反比，且當該間隔距離為零時，該外力大於一特定範圍，該擋止件支撐於該第一軸承部以及該第二軸承部之間，俾以限制該連接部的變形。 A force sensor as described in claim 10, wherein the gap has a spacing distance, the spacing distance is inversely proportional to the external force, and when the spacing distance is zero, the external force is greater than a specific range, and the stopper is supported between the first bearing part and the second bearing part to limit the deformation of the connecting part.