A three-dimensional force sensor with decoupling structure

Abstract

The invention relates to the technical field of a sensor and discloses a three-dimension force sensor having a decoupling structure. The three-dimension force sensor comprises an elastomer inner ring,an elastomer outer ring, an axial force balance device, a torque balance device, inner ring strain foils and outer ring strain foils. The elastomer outer ring is sleeved outside the elastomer inner ring; the axial force balance device is arranged between the elastomer outer ring and the elastomer inner ring; and the inner ring strain foils are fixedly arranged in the elastomer inner ring. The elastomer outer ring comprises an upper elastomer outer ring and a lower elastomer outer ring, which are split from the top down. The upper elastomer outer ring and the lower elastomer outer ring are connected through the torque balance device. The outer ring strain foils are fixedly arranged in the lower elastomer outer ring. The three-dimension force sensor realizes decoupling of bending moment andtorque by axial force and decoupling of the axial force by the torque, is high in decoupling precision, is simple in decoupling method and improves measurement precision; and deformations of the elastomer outer ring and the elastomer inner ring in direction of axial force and torque do not influence each other, thereby improving measurement sensitivity.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a three-dimensional force sensor with a decoupling structure. Background technique [0002] Multi-dimensional force sensors are often used in robot systems to feed back the detected space orthogonal force / torque information to the robot force control system to realize the force / position control of intelligent robots, and its accuracy directly affects the precise control of the entire robot. However, the existence of inter-dimensional coupling seriously affects the measurement accuracy of the sensor. [0003] Inter-dimensional coupling is a common phenomenon when multi-dimensional force sensors measure multi-dimensional forces, and inter-dimensional coupling will reduce measurement accuracy. Inter-dimensional coupling means that when the multi-dimensional force sensor measures the force in a certain direction, it not only has a signal output in the direction of the force, but als...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a three-dimensional force sensor with a decoupling structure to solve the problem that the elastic body design based on the matching principle in the prior art cannot guarantee the measurement resolution of the load in each direction and the range of the force in each direction does not match. ;Using the coupling calculation of the output signal to eliminate the problem of complex calculation and low precision caused by inter-dimensional coupling

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