Three-dimensional force sensor

Abstract

The invention relates to a three-dimensional force sensor, which belongs to the technical field of sensors. The main body of the sensor has a rectangular structure, a quadrangular frustum pyramid structure or a parallelepiped structure; 4n horizontal cutting grooves are arranged on the main body of the sensor at equal intervals in turn along the vertical direction;, the lateral surfaces of the sensor corresponding to the notch cut surfaces of the horizontal cutting grooves from the first one to the 4nth one are arranged circularly in a clockwise mode or an anticlockwise mode; four continuous horizontal cutting grooves form a cutting unit; and n cutting units are formed; and strain foils are four same strain foils which are adhered to the four lateral surfaces of the rectangular structure,and each strain foil and a corresponding resistor form an independent Wheatstone bridge circuit. The three-dimensional force sensor has the characteristics of light weight, small volume, strong decoupling property, simple structure and the like. The three-dimensional force sensor can be applied to three-dimensional contact force detection of a human leg part of a microminiature leg-type robot, andcan be used as a component of a human leg structure of the microminiature leg-type robot.

Description

technical field [0001] The invention belongs to the application field of sensor technology, and in particular relates to a novel three-dimensional force sensor, which is mainly used in three-dimensional force detection. Background technique [0002] At present, the research on three-dimensional force sensors at home and abroad is mainly used in robot technology. According to the principle of force measurement, it can be divided into resistance strain type, capacitive type, piezoelectric type and photoelectric type. According to the elastic body structure, it can be divided into direct output type and indirect output type. , but the design principle and processing technology are more complicated. In the design of elastomer structures, beam structures (patent 200810025591.2, Han Yulin, etc.), barrel structures (patent 200610016178.0, Liu Bo, etc.), frame structures (patent 03112680.4, Song Aiguo, etc.) are mainly used. Although all of them can realize three-dimensional force d...

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Problems solved by technology

[0002] At present, the research on three-dimensional force sensors at home and abroad is mainly used in robot technology. According to the principle of force measurement, it can be divided into resistance strain type, capacitive type, piezoelectric type and photoelectric type. According to the elastic body structure, it can be divided into direct output type and indirect output type. , but the design principle and processing technology are more complicated

In the design of elastomer structures, beam structures (patent 200810025591.2, Han Yulin, etc.), barrel structures (patent 200610016178.0, Liu Bo, etc.), frame structures (patent 03112680.4, Song Aiguo, etc.) are mainly used. Although all of them can realize three-dimensional force detection, However, the structural design, calculation principle and manufacturing are relatively complicated, mainly due to the fact that the structure is not compact enough, and it is difficult to be used in the three-dimensional force detection of micro-miniature robots and the integrated small design of the leg structure.

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