Decoupling type shaft torsion two-dimensional force and torque sensor

Abstract

A main body of the decoupling type shaft torsion two-dimensional force and torque sensor is an elastic structural body, the elastic structural body comprises an external fixing ring body, a force measuring ring body located at the center of the fixing ring body, N thin beam branch chains and N T-shaped branch chains, the N thin beam branch chains and the N T-shaped branch chains are connected between the fixing ring body and the force measuring ring body, and N is larger than or equal to 3; the thin beam branch chains and the T-shaped branch chains are alternately and uniformly arranged, and each thin beam branch chain and each T-shaped branch chain are arranged in the diameter direction; the wide ends of the T-shaped branch chains face outwards and are connected to the fixed ring body, the narrow ends of the T-shaped branch chains face inwards and are connected to the force measuring ring body, the included angle between the radial central plane of the adjacent thin beam branch chains and the radial central plane of the T-shaped branch chains is alpha, and the fixed ring body, the force measuring ring body, the thin beam branch chains and the T-shaped branch chains are of an integrally formed structure. The thin beam branch chains and the T-shaped branch chains are alternately and uniformly arranged, so that the shape of the whole elastic structure body is in multidirectional symmetry, the bearing distribution on each branch chain is also in symmetry and uniformity, the structure is compact, the unbalance loading condition is not easy to occur during use, and decoupling between axial force and torsional moment can be realized; patch bridging is facilitated, the sensitivity is high, the measuring range is large, the machining and manufacturing difficulty is reduced, and low-cost production is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical sensors, and in particular to a decoupled axial-torsion two-dimensional force and torque sensor. Background Art

[0002] The axial-torsion two-dimensional force and torque sensor is a mechanical detection device that can sense the measured force and torque information, and can convert the sensed force and torque into electrical signals or other required forms of information output according to certain rules with the help of strain gauges to meet the transmission and processing of the measured mechanical data.

[0003] In mechanical manufacturing and machining, axial-torsion 2D force and torque sensors can monitor axial force and torque in real time during machining, optimizing cutting parameters, extending tool life, and ensuring machining accuracy. They can also be used in the assembly of mechanical components, monitoring applied force and torque during bolt tightening and component assembly to ensure assembly quality and consistency. In wind power generation, axial-torsion 2D force and torque sensors can be used to monitor the torque and load on wind turbine and generator bearings, optimizing power generation efficiency and ensuring safe generator operation. In agricultural machinery applications, axial-torsion 2D force and torque sensors can be installed on the drill bit of a rotary tiller. Real-time force and torque monitoring allows for timely adjustment of the tiller's speed and tillage depth. They can also be used in straw harvesters to monitor the resistance of corn stalks and adjust the harvester's header height and speed to ensure harvesting quality and efficiency.

[0004] Currently, most of the low-dimensional force sensors on the market are single-dimensional force sensors that can only measure axial force or torque. If axial force and torque need to be measured simultaneously, other external equipment needs to be added, resulting in excessively high usage costs. Alternatively, using a six-dimensional force sensor to measure axial force and torque will increase power consumption and lead to a waste of dimensions.

[0005] Existing axial-torsion two-dimensional force and torque sensors come in two types: integrated and assembled. Most are stacked structures. For example, utility model patent CN218411506U proposes a combined force sensor that combines a torque sensor with a pressure sensor to meet the application requirements of three types: pressure sensor, torque sensor, and compression-torsion two-dimensional force sensor. However, the stacked structure of this combined sensor is complex to install, and errors in the fit between the components make standardized production difficult. It also leads to problems such as low measurement accuracy. As the assembly dimensions change over time, they need to be reinforced and recalibrated, making it difficult to meet the requirements of mass production and high-precision measurement. Integrated sensors can eliminate gaps and friction at the connection points through one-piece molding, thereby improving measurement accuracy. Utility model patent CN210426834U proposes an integrated compression-torsion two-dimensional force sensor that detects force information using four longitudinally arranged torsional strain beams and a stacked T-beam. It has good measurement accuracy and linearity, but the stacked arrangement makes the sensor bulky, making it inconvenient to install in small devices.

[0006] In view of the shortcomings of existing technologies, there is an urgent need to develop a two-dimensional force and torque sensor for axial torsion that is miniaturized, easy to lay out and assemble, easy to form and manufacture, and has the advantages of high linearity, high sensitivity, and structural decoupling, so as to meet the application needs in the field of automation and intelligence in the mechanical industry. Summary of the Invention

[0007] The purpose of the present invention is to solve the above problems and provide a decoupled shaft-torsion two-dimensional force and torque sensor.

[0008] The technical solution of the present invention is: a decoupled axial-torsion two-dimensional force and torque sensor, the main body of which is an elastic structure, characterized in that: the elastic structure includes an external fixed ring body, a force measuring ring body located at the center of the fixed ring body, N thin beam branches and N T-shaped branches connected between the fixed ring body and the force measuring ring body, the thin beam branches and T-shaped branches are arranged alternately and evenly, and each thin beam branch and T-shaped branch are arranged along the diameter direction; the wide end of the T-shaped branch is connected to the fixed ring body outward, and the narrow end of the T-shaped branch is connected to the force measuring ring body inward, and the angle between the radial center plane of adjacent thin beam branches and the radial center plane of the T-shaped branch is α, and α is 360° / 2N; the fixed ring body, force measuring ring body, thin beam branch, and T-shaped branch are an integrally formed structure, and N≥3. The thin beam branches and T-shaped branches are arranged alternately and evenly, making the shape of the entire elastic structure multi-directionally symmetrical. The load distribution on each branch is also symmetrical and uniform. It is not easy to have unbalanced load after loading, which is conducive to the decoupling between axial force and torsional moment, and also helps to reduce the difficulty of processing and manufacturing.

[0009] Preferably, the outer end of the thin beam branch and the T-shaped branch is connected to the middle of the inner side of the fixed ring body, and the inner end of the thin beam branch and the T-shaped branch is connected to the middle of the outer side of the force ring body. The transverse central plane of the two branches coincides with the transverse central plane of the fixed ring body and the force ring body, further improving the symmetry of the elastic structure body and the uniformity of the force distribution after bearing, and improving the decoupling effect between the axial force and the torsional moment. The arrangement of each part in the same plane can reduce the difficulty of processing and manufacturing and reduce the production cost.

[0010] Preferably, the inner side of the fixed ring body is provided with N U-shaped recessed parts uniformly distributed along the circumference. The design of the U-shaped recessed parts is to ensure that the length of the internal T-shaped branch is long enough to meet the deformation amount after bearing under the premise that the outer diameter size of the entire elastic structure body is unchanged, thereby improving the detection accuracy of the sensor. At the same time, the weight of the sensor can be reduced, and the sensor can be applied to occasions with weight requirements. The opening of the recessed part faces the force ring body, the wide end of the T-shaped branch is located in the U-shaped recessed part, and the left and right symmetrical extension connecting bodies of the wide end of the T-shaped branch are connected to the left and right side surfaces of the U-shaped recessed part, respectively.

[0011] Preferably, the radial width of the U-shaped recessed part is greater than the radial thickness of the connecting body, and a gap is provided between the outer side surface of the connecting body and the main side surface of the U-shaped recessed part. The gap provides space for the movement of the outer side of the connecting body along the main side surface of the recess.

[0012] Preferably, a double hole is provided on the T-shaped branch, and the opening direction of the double hole is parallel to the axis direction of the force ring body. The recessed part meets the requirements of the fixed connection space of the T-shaped branch, and provides stable support to the two sides of the wide end (outer end) of the T-shaped branch. After further opening the double hole, the deformation area of the T-shaped branch is concentrated on the two sides of the double hole, and the detection sensitivity after attaching the strain sheet is guaranteed.

[0013] Preferably, the thickness of the thin beam branch in the axis direction of the force ring body and the thickness of the T-shaped branch in the axis direction of the force ring body are both less than the thickness of the fixed ring body and the force ring body, and the upper end surface of the force ring body protrudes from the upper end surface of the fixed ring body, so as to facilitate the slight movement of the force ring body in the axial direction and realize the deformation force measurement function of the elastic body.

[0014] Preferably, an axial guide hole is provided in the center of the force ring body, which has a radial positioning function and limits the movement of the connected parts in the transverse and longitudinal directions. A plurality of loading threaded holes are provided around the guide hole of the force ring body, and a plurality of fixing holes are uniformly arranged around the circumference of the fixed ring body.

[0015] Preferably, the sensor further comprises a plurality of strain gauges, which are adhered to the two side surfaces of the thin beam branch and the thinnest position of the outer side surface of the double-connected hole notch on the T-shaped branch.

[0016] Preferably, the inner edges of the upper and lower end surfaces of the fixed ring body are provided with sunken step surface A, and the outer edges of the upper and lower end surfaces of the force measuring ring body are provided with sunken step surface B, and both step surface A and B are higher than the thin beam branch chain and the T-shaped branch chain; the sensor is also provided with a sealing cover, the outer side of the sealing cover is mounted to the step surface A by gluing, and the inner side is mounted to the step surface B by gluing; the inner and outer shapes of the sealing cover respectively match the step surface A and B

[0017] The fixed ring body is provided with a transverse signal line hole, which avoids the connection area between the thin beam branch and the T-shaped branch. The signal line connected to the strain gauge is led out through the signal line hole, and the hole is sealed by injecting sealant and solidifying it. After sealing with a sealing cover and gluing, the sensor can be used in an environment with liquid. Due to the flexible and deformable characteristics of the sealant, it will deform synchronously with the slight deformation of the sensor during use, without affecting the sealing effect. Preferably, the connection between the two ends of the thin beam branch and the T-shaped branch is a circular arc transition connection.

[0018] The beneficial effects of the present invention are:

[0019] 1. The decoupled two-dimensional force and torque sensor of the present invention structurally realizes the decoupled measurement of axial force and torque, and the separate detection and perception of shear force and bending moment can effectively avoid the coupling crosstalk of signals between force and torque components. At the same time, the measurement directions of axial force and torque are coaxial, which facilitates the initial calibration and subsequent calibration of the sensor.

[0020] 2. The one-piece molding structure of the decoupled two-dimensional force and torque sensor of the present invention effectively avoids friction at the connection and assembly gap, thereby significantly improving the high-precision calibration and accurate measurement of axial force and torque.

[0021] 3. The two-dimensional force and torque sensor of the present invention has a planar structure with multi-directional symmetry as a whole. The overall structure is relatively simple and the processing and manufacturing difficulty is low, which can reduce production costs and facilitate the patching and bridge assembly of strain gauges.

[0022] 4. The structural design of the decoupled two-dimensional force and torque sensor of the present invention with a high sealing protection level makes the axial-torsion two-dimensional force and torque sensor suitable for liquid working environments, such as underwater drilling construction machinery, underwater dredging execution devices, hydraulic structure support and protection devices, etc., which can quickly and accurately sense push-pull forces and torques, and provide accurate force perception for underwater dredging equipment or underwater robots and underground pipeline robots.

[0023] 5. Further, by adjusting the parameters of the elastic structure, the sensor can also be extended to heavy load force measurement and micro force sensing applications. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a front view structural schematic diagram of the sensor in Example One;

[0025] Figure 2 is an A-A cross-sectional structural schematic diagram of Figure 1

[0026] Figure 3 is a B-B cross-sectional structural schematic diagram of Figure 2

[0027] Figure 4 is a three-dimensional structural schematic diagram of the sensor in Example One; Figure 1

[0028] Figure 5 is a front view structural schematic diagram of the sensor in Example Two;

[0029] Figure 6 is an A-A cross-sectional structural schematic diagram of Figure 5

[0030] Figure 7 is a three-dimensional structural schematic diagram of the sensor in Example Two;

[0031] Figure 8 is a three-dimensional structural schematic diagram of the sensor in Example Two;

[0032] Figure 9 is a three-dimensional structural schematic diagram of the sensor in Example Three;

[0033] Figure 10 is a path definition schematic diagram in finite element simulation;

[0034] Figure 11 is a positive elastic strain schematic diagram on path A when an axial force Fy = 1000 N is applied;

[0035] Figure 12 is a positive elastic strain schematic diagram on path B when an axial force Fy = 1000 N is applied;

[0036] Figure 13 is a positive elastic strain schematic diagram on path E when an axial force Fy = 1000 N is applied;

[0037] Figure 14 is a positive elastic strain schematic diagram on path F when an axial force Fy = 1000 N is applied;

[0038] Figure 15 ​​​​Schematic diagram of the positive elastic strain on path C when the axial force Fy = 1000N is applied;

[0039] Figure 16 Schematic diagram of the positive elastic strain on path D when the axial force Fy = 1000N is applied;

[0040] Figure 17 Schematic diagram of the positive elastic strain on path G when the axial force Fy = 1000N is applied;

[0041] Figure 18 Schematic diagram of the positive elastic strain on path H when the axial force Fy = 1000N is applied;

[0042] Figure 19 Schematic diagram of the positive elastic strain on path A when the torque My = 10 Nm is applied;

[0043] Figure 20 Schematic diagram of the positive elastic strain on path B when the torque My = 10 Nm is applied;

[0044] Figure 21 Schematic diagram of the positive elastic strain on path E when the torque My = 10 Nm is applied;

[0045] Figure 22 Schematic diagram of the positive elastic strain on path F when the torque My = 10 Nm is applied;

[0046] Figure 23 Schematic diagram of the positive elastic strain on path C when the torque My = 10 Nm is applied;

[0047] Figure 24 Schematic diagram of the positive elastic strain on path D when the torque My = 10 Nm is applied;

[0048] Figure 25 Schematic diagram of the positive elastic strain on path G when the torque My = 10 Nm is applied;

[0049] Figure 26 Schematic diagram of the positive elastic strain on path H when the torque My = 10 Nm is applied;

[0050] Wherein: 1. Fixing ring, 2. Force measuring ring, 3. Thin beam branch, 4. T-shaped branch, 11. U-shaped recess, 41. Connector, 42. Double hole, 43. Strain gauge, 31. Strain gauge, 12. Fixing hole, 21. Guide hole, 22. Loading thread hole, 13. Step surface A, 23. Step surface B, 5. Sealing cover, 14. Signal line hole, 15. Gap, 32. Arc transition surface. DETAILED DESCRIPTION

[0051] Example 1: See Figures 1-4, a decoupled axial-torsion two-dimensional force and torque sensor, the main body of which is an elastic structure, which includes an external fixed ring body 1, a force measuring ring body 2 located at the center of the fixed ring body 1, N thin beam branches 3 and N T-shaped branches 4 connected between the fixed ring body 1 and the force measuring ring body 2, the thin beam branches 3 and T-shaped branches 4 are arranged alternately and evenly, and each thin beam branch 3 and T-shaped branch 4 are arranged along the diameter direction; the wide end of the T-shaped branch 4 is connected to the fixed ring body 1 outward, and the narrow end of the T-shaped branch 4 is connected to the force measuring ring body 2 inward, the angle between the radial center plane of the adjacent thin beam branch 3 and the radial center plane of the T-shaped branch 4 is α, and α is 360° / 2N; the fixed ring body 1, force measuring ring body 2, thin beam branch 3, and T-shaped branch 4 are an integrally formed structure, N=3. The thin beam branches 3 are rectangular thin plates, arranged vertically parallel to the sensor's axial direction. The thin beam branches 3 and T-shaped branches 4 are evenly and alternately arranged, giving the entire elastic structure multi-directional symmetry. The load distribution on each branch is also symmetrical and uniform, making it less prone to unbalanced loads. This facilitates the decoupling of axial force and torsional torque, and reduces manufacturing complexity.

[0052] The outer ends of the thin-beam branches 3 and T-shaped branches 4 are connected to the middle of the inner side of the fixed ring body 1, while the inner ends of the thin-beam branches 3 and T-shaped branches 4 are connected to the middle of the outer side of the force-measuring ring body 2. The transverse center planes of these two branches coincide with those of the fixed ring body 1 and the force-measuring ring body 2, further enhancing the symmetry of the elastic structure and the uniformity of force distribution after loading, improving the decoupling effect between axial force and torsional torque. The arrangement of all components in the same plane reduces manufacturing complexity and reduces production costs.

[0053] The inner side of the fixed ring body 1 is provided with N U-shaped recessed portions 11 evenly distributed along the circumference. The openings of the recessed portions 11 face the force-measuring ring body 2. The wide ends of the T-shaped branches 4 are located within the U-shaped recessed portions 11. Connectors 41 symmetrically extend from the wide ends of the T-shaped branches 4 to the left and right sides of the U-shaped recessed portion 11, respectively. The design of the U-shaped recessed portions 11 is to ensure that the length of the internal T-shaped branches 4 is sufficiently long while maintaining the outer diameter of the entire elastic structure, ensuring sufficient deformation after load bearing, thereby improving the detection accuracy of the sensor. It also reduces the weight of the sensor itself, making it suitable for applications where weight is a concern.

[0054] The radial width of the U-shaped recessed portion 11 is greater than the radial thickness of the connector 41. A gap 15 is provided between the outer side surface of the connector 41 and the main side surface of the U-shaped recessed portion 11. The gap 15 provides space for the outer side of the connector 41 to move along the main side surface of the recess.

[0055] The T-shaped branch chain 4 is provided with a double-connected hole 42, which is parallel to the axis of the force ring 2. The recessed portion 11 satisfies the fixed connection space requirements of the T-shaped branch chain 4, providing stable support for both sides of the wide end (outer end) of the T-shaped branch chain 4. Furthermore, the double-connected hole ensures that the deformation area of ​​the T-shaped branch chain 4 is concentrated on both sides of the double-connected hole, ensuring the detection sensitivity after the strain gauge is attached.

[0056] The thickness of the thin beam branch chain 3 in the axial direction of the force-measuring ring body 2 and the thickness of the T-shaped branch chain 4 in the axial direction of the force-measuring ring body 2 are both smaller than the thickness of the fixed ring body 1 and the force-measuring ring body 1. The upper end face of the force-measuring ring body 2 protrudes from the upper end face of the fixed ring body 1 to facilitate the slight axial movement of the force-measuring ring body 2 and realize the elastic body deformation force measurement function.

[0057] The center of the force measuring ring 2 is provided with an axial guide hole 21. The guide hole 21 has a radial positioning function, limiting the lateral and longitudinal movement of the connected parts. The guide hole 21 of the force measuring ring 2 is provided with a plurality of loading threaded holes 22 around the circumference, and the fixing ring 1 is provided with a plurality of fixing holes 12 along the circumference, and the fixing holes 12 are evenly arranged along the circumference.

[0058] The sensor also includes several strain gauges 31, which are affixed to the sides of the thin beam branch 3 and the T-shaped branch 4. These strain gauges 31 are uniaxial strain gauges, while the strain gauges 21 are affixed to the sides of the thin beam branch 3 and the thinnest locations on the outer sides of the double-connected holes 42 on the T-shaped branch 4.

[0059] The connection points at both ends of the thin beam branch chain 3 and the T-shaped branch chain 4 are both transition connections with arc surfaces 32 .

[0060] Example 2: See Figures 1-8 , Example 2 is basically the same as Example 1, and the similarities are not repeated. The difference is that the inner edges of the upper and lower end surfaces of the fixed ring body 1 in Example 2 are provided with a sunken step surface A 13, and the outer edges of the upper and lower end surfaces of the force measuring ring body 2 are provided with a sunken step surface B 23, and the step surfaces A 13 and B 23 are both higher than the thin beam branch chain 3 and the T-shaped branch chain 4; the sensor is also provided with a sealing cover 5, the outer side of the sealing cover 5 is installed in the step surface A 13 by gluing, and the inner side is installed in the step surface B 23 by gluing; the inner and outer shapes of the sealing cover 5 respectively match the step surfaces A and B.

[0061] The fixed ring body 1 is provided with a transverse signal line hole 14, which avoids the connection area between the thin beam branch 3 and the T-shaped branch 4. The signal line connected to the strain gauge 31 is led through this hole 14. The hole is sealed by injecting sealant and then solidifying it. After the sealing cap and adhesive are sealed, the sensor can be used in liquid environments. Due to the flexible and easily deformable nature of the sealant, it will deform synchronously with the slight deformation of the sensor during use, without affecting the sealing effect.

[0062] Example 3: See Figure 9 The third embodiment is basically the same as the first embodiment, and the similarities are not repeated. The difference is that the N of the decoupled shaft-torsion two-dimensional force and torque sensor in the third embodiment is 4.

[0063] In order to form more embodiments, the above-mentioned N can also be 5, 6..., and the number can be determined according to the actual usage scenario. In Example 3, a sealing cover and a signal line hole can also be set with reference to Example 2 for sealing. They are not described here one by one, and they all fall within the protection scope of this application.

[0064] In order to verify the decoupling capability of the sensor in this application, a simulation experiment was conducted on the sensor in Example 1. The specific simulation results are as follows.

[0065] In ANSYS software, the strain simulation results at the strain gauge patch position under axial force and torque load are displayed. Figures 10-26 .in, Figure 10 The figure shows eight paths, A, H, and B. Paths A, B, E, and F are defined on the left and right planes of adjacent thin beam branches 3, respectively. The line connecting the endpoints of the two paths defined on the sides of the thin beam branches 3 passes through the geometric center of the two planes and forms a 45° angle with the axial force direction. The two strain gauges 3 placed on the planes on the sides of the same thin beam branch 3 are aligned, and the strain gauges 31 on the planes on the sides of adjacent thin beam branches 3 are arranged at a 90° angle. Paths C, D, G, and H are defined on the outer planes of the left and right notches of two adjacent T-shaped branches 4, respectively, near the central force ring 2. Four strain gauges 31 are placed on each of the paths A, B, E, and F defined on adjacent thin beam branches 3, forming a Wheatstone full-bridge circuit to detect the axial force load component acting on the central force ring 2 of the axial-torsion two-component force sensor. Four strain gauges 31 are respectively arranged on the paths C, D, G and H defined on the T-shaped branch chain 4, which together form a Wheatstone full-bridge circuit for detecting the torque load component acting on the central force measuring ring 2 of the shaft-torsion two-component force sensor. Figures 11-26 Schematic diagrams of the positive elastic strains of the eight paths along the defined path directions under the load conditions of 1000N axial force and 10Nm torque applied around the normal direction of the central force measuring ring 2, respectively. The horizontal axis is the path length and the vertical axis is the positive elastic strain value on the path, where 1με=10-6 mm / mm.

[0066] According to Figures 10-26 The simulation data of Table 1 are as follows:

[0067] Table 1 defines the average perceived strain on the path under the action of axial force and torque load

[0068]

[0069] By using the rotational symmetry of the shaft torque bisection sensor structure and the feature that the load is located on the axis of the central force ring body, the expected output strain and coupled output strain of the two Wheatstone full-bridge circuits for measuring axial force and torque can be calculated according to the data in Table 1, as follows:

[0070] (1) When the axial force Fy = 1000 N is applied

[0071] The expected output strain of the full-bridge circuit 1 for measuring the axial force Fy: ε Fy =(ε E -ε A +ε F -ε B ) / 4 = 312.5 με, and the coupled output strain of the full-bridge circuit 2 for measuring the torque My with respect to the axial force: ε My =(ε D -ε C +ε H -ε G ) / 4 = -0.29 με.

[0072] (2) When the torque My = 10 Nm is applied

[0073] The expected output strain of the full-bridge circuit 2 for measuring the torque My: ε My =(ε D -ε C +ε H -ε G ) / 4 = 414 με, and the coupled output strain of the full-bridge circuit 1 for measuring the axial force Fy with respect to the torque: ε Fy =(ε E -ε A +ε F -ε B ) / 4 = -0.03 με.

[0074] Based on the output strain of the defined paths and the bridge configuration, for full-bridge circuit 1 measuring axial force Fy, the coupled strain of the full-scale axial force load on bridge 1 is 0.03με / 312.5με = 0.01% FS. For full-bridge circuit 2 measuring torque My, the coupled strain of the full-scale torque load on bridge 2 is 0.29με / 414με = 0.07% FS. Analysis of the above examples demonstrates that the designed decoupled axial-torsion two-component force sensor effectively suppresses the coupled crosstalk between the output signals of the axial force and torque load components, demonstrating excellent mechanical decoupling performance.

Claims

1. A decoupled axial-torsion two-dimensional force and torque sensor, the main body of which is an elastic structure, characterized by: The elastic structure includes an external fixed ring body, a force-measuring ring body located at the center of the fixed ring body, N thin beam branches and N T-shaped branches connected between the fixed ring body and the force-measuring ring body. The thin beam branches and T-shaped branches are arranged alternately and evenly, and each thin beam branch and T-shaped branch are arranged along the diameter direction; the wide end of the T-shaped branch is connected to the fixed ring body outward, and the narrow end of the T-shaped branch is connected to the force-measuring ring body inward. The angle between the radial center plane of adjacent thin beam branches and the radial center plane of the T-shaped branch is α, and α is 360° / 2N; the fixed ring body, force-measuring ring body, thin beam branches, and T-shaped branches are an integrally formed structure, and N≥3.

2. The decoupled axial-torsion two-dimensional force and torque sensor according to claim 1, characterized in that: The outer ends of the thin beam branch chain and the T-shaped branch chain are connected to the middle of the inner side surface of the fixed ring body, and the inner ends of the thin beam branch chain and the T-shaped branch chain are connected to the middle of the outer side surface of the force measuring ring body.

3. The decoupled axial-torsion two-dimensional force and torque sensor according to claim 1, characterized in that: The inner side surface of the fixed ring body is provided with N U-shaped recessed parts evenly distributed along the circumference, the opening of the recessed parts faces the force measuring ring body, the wide end of the T-shaped branch chain is located in the U-shaped recessed part, and the connectors extending symmetrically to the left and right sides of the wide end of the T-shaped branch chain are respectively connected to the left and right side surfaces of the U-shaped recessed part.

4. The decoupled axial-torsion two-dimensional force and torque sensor according to claim 3, characterized in that: The radial width of the U-shaped recessed portion is greater than the radial thickness of the connector, and a gap is provided between the outer side surface of the connector and the main side surface of the U-shaped recessed portion.

5. The decoupled axial-torsion two-dimensional force and torque sensor according to claim 4, characterized in that: The T-shaped branch chain is provided with a double-connected hole, and the opening direction of the double-connected hole is parallel to the axial direction of the force measuring ring body.

6. The decoupled shaft-torsion two-dimensional force and torque sensor according to claim 1, characterized in that: The thickness of the thin beam branch chain in the axial direction of the force measuring ring body and the thickness of the T-shaped branch chain in the axial direction of the force measuring ring body are both smaller than the thickness of the fixed ring body and the force measuring ring body, and the upper end surface of the force measuring ring body protrudes from the upper end surface of the fixed ring body.

7. The decoupled axial-torsion two-dimensional force and torque sensor according to claim 1, characterized in that: The center of the force measuring ring body is provided with an axial guide hole; the guide hole of the force measuring ring body is provided with a plurality of loading threaded holes around it; the fixed ring body is provided with a plurality of fixing holes along the circumference, and the fixing holes are evenly arranged along the circumference.

8. The decoupled shaft-torsion two-dimensional force and torque sensor according to claim 1, characterized in that: The sensor also contains a plurality of strain gauges, which are pasted on the two side surfaces of the thin beam branch and the thinnest position of the outer side surface of the double-connected hole notch on the T-shaped branch.

9. The decoupled shaft-torsion two-dimensional force and torque sensor according to claim 8, characterized in that: The inner edges of the upper and lower end surfaces of the fixed ring body are provided with sunken step surfaces A, and the outer edges of the upper and lower end surfaces of the force measuring ring body are provided with sunken step surfaces B, and both step surfaces A and B are higher than the thin beam branch chain and the T-shaped branch chain; the sensor is also provided with a sealing cover, the outer side of the sealing cover is mounted to the inner side of the step surface A by gluing, and the inner side of the sealing cover is mounted to the inner side of the step surface B by gluing; A transverse signal line hole is provided on the fixed ring body, which avoids the connection area between the thin beam branch and the T-shaped branch. The signal line connected to the strain gauge is led out through the signal line hole, and the hole is sealed by injecting sealant and then solidifying it.

10. The decoupled shaft-torsion two-dimensional force and torque sensor according to claim 1, characterized in that: The connection points at both ends of the thin beam branch chain and the T-shaped branch chain are all arc surface transition connections.

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