A six-dimensional force measurement device for decoupled space

Abstract

The present invention discloses a decoupled space six-dimensional force measurement device, comprising: a force sensing plate and a mounting base with an inner cavity, a second decoupling measurement branch component located in the inner cavity; and a force transmission beam fixed to one end of the second decoupling measurement branch component away from the bottom wall; the measurement device also includes a first decoupling measurement branch component; the force direction of the second decoupling measurement branch component is along the Z direction; the first decoupling measurement branch component includes: four measurement branches arranged along the Z direction in the axial direction, and four measurement branches arranged along the horizontal direction in the axial direction; the two ends of the measurement branch arranged along the horizontal direction in the axial direction are respectively fixed to the force transmission beam and the side wall of the mounting base; the axial extension direction of the four measurement branches arranged along the horizontal direction in the axial direction is alternately configured in the X direction and the Y direction. The present invention solves the inter-dimensional coupling problem in the field of six-dimensional force measurement in a purely mechanical mechanism.

Description

Technical Field

[0001] The present invention relates to the field of mechanical measurement technology, and more specifically, to a decoupled space six-dimensional force measurement device. Background Art

[0002] The six-dimensional spatial force can be divided into three directions of force (FX, FY, FZ) and three torques (MX, MY, MZ) in the Cartesian coordinate system (OXYZ). The six-dimensional force measurement device can measure and output the force and torque information on multiple coordinate axes (X, Y and Z) in the Cartesian rectangular coordinate system. It is mainly used in important fields such as industrial robot arms, remote-controlled robot systems, product testing, aerospace, etc. Therefore, the high-precision, large-range and high-sensitivity six-dimensional force measurement device has a very broad application prospect.

[0003] In the field of spatial six-dimensional force measurement, the common problem faced is the serious inter-dimensional coupling of sensitive elements of the measuring device. Patent CN109974917B discloses a six-dimensional force sensor fabric structure with strain concentration, which adopts an elastic connecting beam block design and is divided into three blocks: upper, middle and lower. The upper and lower thin beams are used as the medium for connection and force transmission. The strain gauges are pasted on the plane for detecting signals, ensuring stress concentration and increasing strain signals. However, it does not completely solve the problem of inter-dimensional coupling. Patent CN102435375B discloses a three-leg parallel decoupling six-dimensional force sensor containing an elastic integral kinematic pair. Based on the principle and mechanical properties of the 3-RPS parallel mechanism, it realizes the mapping of six-dimensional forces to three RPS-shaped two-dimensional measuring legs, and obtains a driving force and a constraint force on each two-dimensional force measuring leg. Although this patent realizes decoupling, its processing and manufacturing are complicated and difficult to realize productization. Patent CN205384107U discloses a local decoupling six-dimensional force sensor based on the Stewart structure, which realizes spatial six-dimensional force measurement through four non-decoupling branch components and two decoupling branch components between the upper force transmission plate and the lower force transmission plate. It releases the coupling stress on the local branch without affecting the stiffness of the whole machine, reducing its adverse effect on the working area of ​​the elastic body. This patent only realizes local decoupling, and there is still a large inter-dimensional coupling. The above six-dimensional force sensors use different methods to reduce inter-dimensional coupling, and the structure is relatively complex, making it difficult to realize the commercialization of spatial six-dimensional force measurement devices. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a decoupled spatial six-dimensional force measurement device, which can decompose the force applied to the force sensing plate from any direction and angle in space into forces in the X, Y, and Z directions and torques around the reference axes X, Y, and Z, thereby solving the inter-dimensional coupling problem in the field of six-dimensional force measurement in a purely mechanical way.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] According to one aspect of the present invention, the present invention provides a decoupling space six-dimensional force measurement device, comprising:

[0007] A force sensing plate and a mounting base having an inner cavity, the mounting base comprising a bottom wall and a side wall; a second decoupling measurement branch component located in the inner cavity and fixed on the bottom wall; and

[0008] A force transmission beam in a cross structure fixed to an end of the second decoupling measurement branch assembly away from the bottom wall;

[0009] The force sensing plate is fixed to a side of the force transmission beam away from the second decoupling measurement branch assembly;

[0010] The measuring device also includes a first decoupling measurement branch component;

[0011] Define the Cartesian coordinate system orientation;

[0012] The force direction of the second decoupling measurement branch component is along the Z direction;

[0013] The first decoupling measurement branch component comprises:

[0014] Four measuring branches arranged along the Z direction in the axial direction, and four measuring branches arranged along the horizontal direction in the axial direction; wherein,

[0015] Taking the center of the force transmission beam as the origin, four measuring branches arranged along the Z direction in the axial direction are arranged around the force transmission beam and are respectively located in the XY direction of the Cartesian coordinate system; the two ends of the measuring branch arranged along the Z direction in the axial direction are respectively fixed to the force sensing plate and the bottom wall of the mounting base;

[0016] Taking the center of the force transmission beam as the origin, the measuring branches arranged in the horizontal direction in four axial directions are arranged around the force transmission beam and are respectively located in the four quadrants of the Cartesian coordinate system;

[0017] The two ends of the measuring branch members arranged along the horizontal direction in the axial direction are respectively fixed to the force transmission beam and the side wall of the mounting base; the axial extension directions of the four measuring branch members arranged along the horizontal direction in the axial direction are alternately arranged in the X direction and the Y direction.

[0018] In addition, it is preferred that the measuring branch member comprises:

[0019] a first force sensing element;

[0020] Two spherical bearings axially located on both sides of the first force sensing element; and

[0021] Two branch member mounting seats axially located on the two spherical bearings at a side away from the first force sensing element;

[0022] Wherein, the fixed end of the joint bearing is connected to the first force sensing element, and the movable end of the joint bearing is connected to the branch component mounting seat through a mounting shaft.

[0023] In addition, a preferred solution is that the second decoupling measurement branch component includes:

[0024] A second force sensing element fixed to the top surface of the bottom wall of the mounting base;

[0025] a lower mounting base fixed to the top surface of the second force sensing element;

[0026] an upper mounting base fixed to the bottom of the force transfer beam; and

[0027] A support decoupling steel ball is constrained between the top surface of the lower mounting seat and the bottom surface of the upper mounting seat.

[0028] In addition, a preferred solution is that a receiving groove for receiving a measuring branch member arranged axially along the Z direction is formed on the side wall of the mounting base.

[0029] In addition, a preferred solution is that the lower mounting seat includes a stud connected to the second force sensing element, the stud passes through the second force sensing element and the bottom wall of the mounting base, and the end of the stud is provided with a slot;

[0030] The upper mounting seat and the force transfer beam are connected and fixed by means of threaded fitting.

[0031] In addition, a preferred solution is that the second decoupling measurement branch component is located at the center of the first decoupling measurement branch component.

[0032] In addition, a preferred solution is that the mounting base includes a first structure body with an annular structure forming a side wall, and a second structure body with a disc-shaped structure covering the central hollow portion of the first structure body; the second structure body forms the bottom wall of the mounting base.

[0033] In addition, a preferred solution is that a spacing space is included between the bottom surface of the force sensing plate and the top surface of the side wall of the mounting base for the force sensing plate to move along the Z direction toward the mounting base.

[0034] In addition, a preferred solution is that the force transfer beam includes four fixed arms extending in the XY directions of a Cartesian coordinate system, and four axial measurement branches arranged in the horizontal direction are alternately arranged circumferentially with the four fixed arms.

[0035] In addition, a preferred solution is that the first force sensing element and the second force sensing element are tension and pressure sensors.

[0036] The beneficial effects of the present invention are as follows:

[0037] The decoupled spatial six-dimensional force measurement device provided by the present invention comprises a force sensing plate, a force transmission beam, a first decoupled measurement branch assembly, a second decoupled measurement branch assembly and a mounting base. The first decoupled measurement branch assembly comprises eight measurement branch members, which work together with the second decoupled measurement branch assembly to complete the spatial six-dimensional force measurement. The multiple measurement branch members have high rigidity. The measurement device is assembled in a modular manner, and the structure is easy to commercialize and large-scale.

[0038] 2. During the operation of the measuring device provided by the present invention, the eight measuring branch components included in the first decoupling measurement branch assembly can undergo a slight rotation through the two joint bearings located on both sides of the first force sensing element of each measuring branch component, and the supporting decoupling steel balls constrained between the top surface of the lower mounting seat and the bottom surface of the upper mounting seat included in the second decoupling measurement branch assembly can undergo a slight rotation when the second decoupling measurement branch assembly is subjected to force. Therefore, the inter-dimensional coupling problem in the field of six-dimensional force measurement can be effectively solved through the measuring device provided by the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0040] Figure 1 The overall schematic diagram of the measuring device provided by the present invention is shown.

[0041] Figure 2 A front view showing a measuring device provided by the present invention.

[0042] Figure 3 A left side view showing the measuring device provided by the present invention.

[0043] Figure 4 A bottom view of a measuring device provided by the present invention is shown.

[0044] Figure 5 Show Figure 2 A cross-sectional view of the structure shown at the AA cutting position.

[0045] Figure 6 Show Figure 3 A cross-sectional view of the structure shown at the BB cutting position.

[0046] Figure 7 A schematic structural diagram of a measuring branch member in a measuring device provided by the present invention is shown.

[0047] Figure 8 A schematic structural diagram of a second decoupling measurement branch component in a measurement device provided by the present invention is shown.

[0048] Fig. 9 A schematic structural diagram of a force sensing plate in a measuring device provided by the present invention is shown.

[0049] Fig.10 A schematic structural diagram of a force transfer beam in a measuring device provided by the present invention is shown.

[0050] Fig.11 A schematic structural diagram of a first structural body of a mounting base in a measuring device provided by the present invention is shown.

[0051] Fig.12 A schematic structural diagram of a second structure of a mounting base in a measuring device provided by the present invention is shown.

[0052] Fig.13 A schematic diagram illustrating the decoupling measurement principle of a measuring device provided by the present invention is shown.

[0053] As shown in the figure:

[0054] 1-force sensing plate, 2-force transmission beam, 3-first decoupling measurement branch assembly, 3.1-first measurement branch, 3.2-second measurement branch, 3.3-third measurement branch, 3.4-fourth measurement branch, 3.5-fifth measurement branch, 3.6-sixth measurement branch, 3.7-seventh measurement branch, 3.8-eighth measurement branch, 3.1.1-branch mounting seat, 3.1.2-mounting shaft, 3.1.3-branch opening retaining ring 1, 3.1.4-branch opening retaining ring 2, 3.1.5-joint bearing, 3.1.6 -Branch locking nut, 3.1.7-first force sensing element, 4-second decoupling measurement branch assembly, 4.1-upper mounting seat, 4.2-support decoupling steel ball, 4.3-lower mounting seat, 4.4-second force sensing element, 5-second structure, 6-first structure, 61-accommodating groove, 7-first hexagon socket cylindrical screw, 8-second hexagon socket cylindrical head screw, 9-third hexagon socket cylindrical screw, 10-fourth hexagon socket cylindrical screw, 11-fifth hexagon socket cylindrical screw, 12-sixth hexagon socket cylindrical head screw, 13-seventh hexagon socket cylindrical head screw. DETAILED DESCRIPTION

[0055] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0056] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0058] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0059] In order to solve the inter-dimensional coupling problem in the field of six-dimensional force measurement, the present invention provides a decoupled space six-dimensional force measurement device, combined with Figures 1 to 13 As shown, the measuring device comprises: a force sensing plate 1 and a mounting base with an inner cavity, the mounting base comprising a bottom wall and a side wall; a second decoupling measurement branch component 4 located in the inner cavity and fixed on the bottom wall; a force transmission beam 2 in a cross structure fixed to the end of the second decoupling measurement branch component 4 away from the bottom wall; the force sensing plate 1 is fixed to the side of the force transmission beam 2 away from the second decoupling measurement branch component; the measuring device also comprises a first decoupling measurement branch component 3. Figures 1 to 3 As shown, the direction of the Cartesian coordinate system is defined; the force direction of the second decoupling measurement branch component 4 is along the Z direction; the second decoupling measurement branch component 4 is located at the center of the first decoupling measurement branch component 3.

[0060] The first decoupling measurement branch assembly 3 includes: four measurement branches arranged along the Z direction in the axial direction, and four measurement branches arranged along the horizontal direction in the axial direction. Among them, with the center of the force transfer beam 2 as the origin, the four measurement branches arranged along the Z direction in the axial direction are arranged around the force transfer beam 2, and are respectively located in the XY directions of the Cartesian coordinate system; the two ends of the measurement branch arranged along the Z direction in the axial direction are respectively fixed to the force sensing plate 1 and the bottom wall of the mounting base. With the center of the force transfer beam 2 as the origin, the four measurement branches arranged along the horizontal direction in the axial direction are arranged around the force transfer beam 2, and are respectively located in the four quadrants of the Cartesian coordinate system; the two ends of the measurement branch arranged along the horizontal direction in the axial direction are respectively fixed to the force transfer beam 2 and the side wall of the mounting base; the axial extension directions of the four measurement branches arranged along the horizontal direction in the axial direction are alternately arranged in the X direction and the Y direction.

[0061] For the convenience of detailed description, in combination with the accompanying drawings, the first decoupling measurement branch assembly 3 includes a first measurement branch 3.1, a second measurement branch 3.2, a third measurement branch 3.3, a fourth measurement branch 3.4, a fifth measurement branch 3.5, a sixth measurement branch 3.6, a seventh measurement branch 3.7, and an eighth measurement branch 3.8. The four measurement branches arranged along the Z direction are the first measurement branch 3.1, the second measurement branch 3.2, the third measurement branch 3.3, and the fourth measurement branch 3.4. The four measurement branches arranged along the axial direction and the horizontal direction are the fifth measurement branch 3.5, the sixth measurement branch 3.6, the seventh measurement branch 3.7, and the eighth measurement branch 3.8.

[0062] like Figure 6 As shown, the decoupling space six-dimensional force measurement device provided by the present invention includes a force sensing plate 1, a force transfer beam 2, a first decoupling measurement branch component 3, a second decoupling measurement branch component 4 and a mounting base. A spacing space is provided between the bottom surface of the force sensing plate 1 and the top surface of the side wall of the mounting base for the force sensing plate 1 to move along the Z direction toward the mounting base. In one embodiment, the mounting base includes a first structure 6 with an annular structure forming the side wall, and a second structure 5 with a disc-shaped structure covering the central hollow of the first structure 6; the second structure 5 forms the bottom wall of the mounting base to facilitate the assembly or disassembly of the second decoupling measurement branch component 4.

[0063] In one embodiment, Fig.11 , Figure 6As shown, the first structure 6 is in the shape of a stepped annular cylinder. The lower cylinder is slightly larger in diameter than the upper cylinder. The lower cylinder includes sixteen light holes around it for installing the decoupling space six-dimensional force measurement device. The lower surface of the lower cylinder is provided with a cylindrical opening and a connecting stop. Eight threaded holes are evenly distributed around it. The lower surface of the lower cylinder is provided with four groups of sixteen countersunk holes evenly distributed. The upper cylinder forms the side wall of the mounting base. The space surrounded by the upper cylinder forms the inner cavity of the mounting base. Four receiving grooves 61 for accommodating the measuring branch components arranged in the axial direction along the Z direction are formed on the upper cylinder. Four evenly distributed light holes are provided on the upper part of the inner side wall of the four receiving grooves 61 near the inner cavity of the mounting base, and a cylindrical hole for threading is provided on the lower part. At least one wire hole for routing the cable of the decoupling measurement branch component is provided in the middle of the outer wall of the receiving groove 61 in the X direction. As shown Fig.12 , Figure 6 As shown, in one embodiment, the second structure 5 is in a stepped cylindrical shape with a cylindrical through hole in the center, eight fixing holes are provided on the back of the second structure 5 for fixing the second decoupling measurement branch assembly, and eight countersunk holes are also provided around the back of the second structure 5 for fixing to the first structure 6 during installation. The second structure 5 is connected to the second decoupling measurement branch assembly 4 through a fifth hexagon socket cylindrical screw 11, the second structure 5 covers the central hollow part of the first structure 6, and is installed on the first structure 6 through a fourth hexagon socket cylindrical screw 10.

[0064] like Fig. 9 , Figure 5 , Figure 6 As shown, in one embodiment, the force sensing plate 1 is cylindrical, with sixteen threaded holes around it for connecting to the product to be measured, and sixteen evenly distributed countersunk holes on the upper surface for fixing the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.2 and the fourth measuring branch 3.4, and four groups of eight evenly distributed countersunk holes on the upper surface for fixing the force transfer beam 2.

[0065] In one embodiment, the force transmission beam 2 includes four fixed arms extending in the XY direction of the Cartesian coordinate system, and four axial measurement branches arranged in the horizontal direction (i.e., the fifth measurement branch 3.5, the sixth measurement branch 3.6, the seventh measurement branch 3.7 and the eighth measurement branch 3.8) are arranged alternately with the four fixed arms in the circumferential direction. Specifically, Fig.10 , Figure 6 As shown, the force transfer beam 2 is in the shape of an offset cross, with eight threaded holes on the upper surface for connecting to the force sensing plate 1, and four groups of sixteen light holes on the side for installing the first decoupling measurement branch component. The lower surface of the force transfer beam 2 has threaded holes for connecting to the second decoupling measurement branch component 4, and the force transfer beam 2 is installed on the force sensing plate 1 by a first hexagonal cylindrical screw 7.

[0066] The measuring branch member of the present invention comprises: a first force sensing element 3.1.7; two spherical bearings 3.1.5 axially located on both sides of the first force sensing element 3.1.7; and two branch member mounting seats 3.1.1 axially located on the side of the two spherical bearings 3.1.5 away from the first force sensing element 3.1.7; wherein the fixed end of the spherical bearing 3.1.5 is connected to the first force sensing element 3.1.7, and the movable end of the spherical bearing 3.1.5 is connected to the branch member mounting seat 3.1.1 via a mounting shaft 3.1.2. Specifically, Figure 7 As shown, the measuring branch component mainly includes two branch component mounting seats 3.1.1, two mounting shafts 3.1.2, four branch component open retaining rings 1 3.1.3, four branch component open retaining rings 2 3.1.4, two spherical bearings 3.1.5, two branch component locking nuts 3.1.6 and a first force sensing element 3.1.7. The upper part of the branch component mounting seat 3.1.1 is provided with four threaded holes for mounting and fixing the first decoupling measurement branch assembly 3, the branch component mounting seat 3.1.1 is provided with through holes penetrating the left and right sides, the mounting shaft 3.1.2 is installed inside the through holes penetrating the two sides, and the mounting shaft is provided with four retaining ring grooves, which are respectively located on the left and right sides of the spherical bearing 3.1.5 and the left and right sides of the branch component mounting seat 3.1.1. Among them, the branch piece opening retaining ring 2 3.1.4 is installed in the retaining ring grooves included in the left and right sides of the joint bearing 3.1.5, and the branch piece mounting seat 3.1.1 includes the retaining ring grooves included in the left and right sides for installing the branch piece opening retaining ring 1 3.1.3. The first force sensing element 3.1.7 includes but is not limited to the use of a tension and pressure sensor, and the first force sensing element 3.1.7 is provided with threads at upper and lower symmetrical positions, which are used to be connected to the fixed end of the joint bearing 3.1.5 through threads, and the relative position is locked by the branch piece locking nut 3.1.6. The movable end of the joint bearing 3.1.5 is connected to the branch piece mounting seat 3.1.1 through the installation shaft 3.1.2, the branch piece opening retaining ring 1 3.1.3, and the branch piece opening retaining ring 2 3.1.4.

[0067] The second decoupling measurement branch assembly 4 in the present invention comprises: a second force sensing element 4.4 fixed to the top surface of the bottom wall of the mounting base, a lower mounting seat 4.3 fixed to the top surface of the second force sensing element 4.4, an upper mounting seat 4.1 fixed to the bottom of the force transmission beam 2; and a supporting decoupling steel ball 4.2 constrained between the top surface of the lower mounting seat 4.3 and the bottom surface of the upper mounting seat 4.1. Specifically, Figure 8 , Figure 6As shown, the upper portion of the upper mounting seat 4.1 is provided with a connecting thread, and the lower portion is provided with an arc surface tangent to the supporting decoupling steel ball 4.2. The upper surface of the lower mounting seat 4.3 is provided with an arc surface tangent to the supporting decoupling steel ball 4.2, and the lower portion is provided with a stud connected to the second force sensing element 4.4. The end of the stud is provided with a slot, and the stud passes through the decoupling measurement branch force sensing element 4.4 and the second structure 5. The contact gap between the two decoupling measurement branches, the upper mounting seat 4.1, the supporting decoupling steel ball 4.2 and the lower mounting seat 4.3 can be adjusted through the slot. The decoupling measurement branch force sensing element 4.4 includes but is not limited to the use of a tension and pressure sensor. The upper end of the second decoupling measurement branch component 4 is connected to the force transfer beam 2 through a thread, and the lower end is connected to the second structure 5 through the fifth hexagonal cylindrical screw 11.

[0068] The specific arrangement of the eight measurement branch components as the first decoupling measurement branch component in the present invention is as follows: Figure 5 As shown, the first measuring branch 3.1 is arranged vertically (axial direction along the Z direction) in the positive direction of the X axis, the second measuring branch 3.2 is arranged vertically (axial direction along the Z direction) in the positive direction of the X axis and in the positive direction of the Y axis, the third measuring branch 3.3 is arranged vertically (axial direction along the Z direction) in the negative direction of the X axis, and the fourth measuring branch 3.4 is arranged vertically (axial direction along the Z direction) in the negative direction of the Y axis. The first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, and the fourth measuring branch 3.4 are connected to the force sensing plate 1 through the second hexagon socket head screw 8, and connected to the first structure 6 through the third hexagon socket head screw 9. The fifth measuring branch 3.5 is horizontally arranged in the first quadrant of the XOY coordinate system, the sixth measuring branch 3.6 is horizontally arranged in the second quadrant of the XOY coordinate system, the seventh measuring branch 3.7 is horizontally arranged in the third quadrant of the XOY coordinate system, and the eighth measuring branch 3.8 is horizontally arranged in the fourth quadrant of the XOY coordinate system. The fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7 and the eighth measuring branch 3.8 are connected to the first structure 6 through the sixth hexagon socket head screw 12, and are connected to the force transfer beam 2 through the seventh hexagon socket head screw 13.

[0069] The principle of using the decoupled spatial six-dimensional force measurement device provided by the present invention to perform spatial six-dimensional force measurement is as follows:

[0070] like Fig.13As shown, the first decoupling measurement branch assembly 3 has eight measurement branches, which are respectively the first measurement branch 3.1, the second measurement branch 3.2, the third measurement branch 3.3, the fourth measurement branch 3.4, the fifth measurement branch 3.5, the sixth measurement branch 3.6, the seventh measurement branch 3.7 and the eighth measurement branch 3.8. Each measurement branch contains a first force sensing element, and the forces on the first force sensing element of each measurement branch from the first measurement branch 3.1 to the eighth measurement branch 3.8 are respectively recorded as F1, F2, F3, F4, F5, F6, F7, F8, and the second decoupling measurement branch assembly 4 has a total of one, which contains a second force sensing element 4.4, and the force on it is recorded as F9. The distance from the first measurement branch 3.1 and the third measurement branch 3.3 to the Y axis, and the distance from the second measurement branch 3.2 and the fourth measurement branch 3.4 to the X axis are recorded as d1. The distances from the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7 and the eighth measuring branch 3.8 to the coordinate origin are recorded as d2.

[0071] When the force sensing plate 1 is subjected to a force FX along the X direction, the sixth measuring branch 3.6 and the eighth measuring branch 3.8 jointly bear the force FX, and the joint bearings 3.1.5 in the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, the fourth measuring branch 3.4, the fifth measuring branch 3.5, and the seventh measuring branch 3.7 rotate slightly, thereby achieving decoupling of the sixth measuring branch 3.6 and the eighth measuring branch 3.8 by the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, the fourth measuring branch 3.4, the fifth measuring branch 3.5, and the seventh measuring branch 3.7. At the same time, the supporting decoupling steel ball 4.2 in the second decoupling measuring branch assembly rotates slightly, thereby achieving decoupling of the sixth measuring branch 3.6 and the eighth measuring branch 3.8 by the second decoupling measuring branch assembly 4. Therefore, the force sensing plate 1 is subjected to a force FX along the X direction, which is jointly borne by the sixth measuring branch 3.6 and the eighth measuring branch 3.8. That is,

[0072] FX=F6+F8

[0073] When the force sensing plate 1 is subjected to the force FY along the Y direction, the fifth measuring branch 3.5 and the seventh measuring branch 3.7 jointly bear the force FY, and the joint bearings 3.1.5 in the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, the fourth measuring branch 3.4, the sixth measuring branch 3.6, and the eighth measuring branch 3.8 rotate slightly, so that the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, the fourth measuring branch 3.4, the sixth measuring branch 3.6, and the eighth measuring branch 3.8 decouple the fifth measuring branch 3.5 and the seventh measuring branch 3.7. At the same time, the supporting decoupling steel ball 4.2 in the second decoupling measuring branch assembly 4 rotates slightly, so that the second decoupling measuring branch assembly 4 decouples the fifth measuring branch 3.5 and the seventh measuring branch 3.7. Therefore, the force sensing plate 1 is subjected to the force FY along the Y direction, which is jointly borne by the fifth measuring branch 3.5 and the seventh measuring branch 3.7. Right now

[0074] FY=F5+F7

[0075] When the force sensing plate 1 is subjected to a force FZ along the Z direction, the joint bearings 3.1.5 of the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7 and the eighth measuring branch 3.8 rotate slightly, thereby achieving decoupling of the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, the fourth measuring branch 3.4 and the second decoupling measuring branch assembly 4 by the fifth measuring branch 3.5, the fifth measuring branch 3.6, the seventh measuring branch 3.7 and the eighth measuring branch 3.8. The force FZ along the Z direction of the force sensing plate 1 is borne jointly by the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, the fourth measuring branch 3.4 and the second decoupling measuring branch assembly 4. That is,

[0076] FZ=F1+F2+F3+F4+F9

[0077] When the force sensing plate 1 is subjected to a torque MX around the X direction, the joint bearings 3.1.5 in the first measuring branch 3.1, the third measuring branch 3.3, the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7, and the eighth measuring branch 3.8 rotate slightly, so that the first measuring branch 3.1, the third measuring branch 3.3, the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7, and the eighth measuring branch 3.8 decouple the second measuring branch 3.2 and the fourth measuring branch 3.4. At the same time, the supporting decoupling steel ball 4.2 in the second decoupling measuring branch assembly 4 rotates slightly, so that the second decoupling measuring branch assembly 4 decouples the second measuring branch 3.2 and the fourth measuring branch 3.4. Therefore, the force MX around the X direction on the force sensing plate 1 is borne jointly by the second measuring branch 3.2 and the fourth measuring branch 3.4.

[0078] MX=F2*d1+F4*d1

[0079] When the force sensing plate 1 is subjected to the force MY in the Y direction, the joint bearings 3.1.5 in the second measuring branch 3.2, the fourth measuring branch 3.4, the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7, and the eighth measuring branch 3.8 rotate slightly, so that the second measuring branch 3.2, the fourth measuring branch 3.4, the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7, and the eighth measuring branch 3.8 decouple the first measuring branch 3.1 and the third measuring branch 3.3. At the same time, the supporting decoupling steel ball 4.2 in the second decoupling measuring branch assembly 4 rotates slightly, so that the second decoupling measuring branch assembly 4 decouples the first measuring branch 3.1 and the third measuring branch 3.3. Therefore, the force sensing plate 1 is subjected to the force MY in the Y direction, which is borne by the first measuring branch 3.1 and the third measuring branch 3.3.

[0080] MY=F1*d1+F3*d1

[0081] When the force sensing plate 1 is subjected to a force MZ in the Z direction, the joint bearings 3.1.5 in the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, and the fourth measuring branch 3.4 rotate slightly, thereby achieving the decoupling of the first measuring branch 3.1, the second measuring branch 3.2, the third measuring branch 3.3, and the fourth measuring branch 3.4 to the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7, and the eighth measuring branch 3.8. At the same time, the supporting decoupling steel ball 4.2 in the second decoupling measuring branch assembly 4 rotates slightly, thereby achieving the decoupling of the second decoupling measuring branch assembly 4 to the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7, and the eighth measuring branch 3.8. Therefore, the force sensing plate 1 is subjected to a force MZ in the Z direction, which is borne by the fifth measuring branch 3.5, the sixth measuring branch 3.6, the seventh measuring branch 3.7, and the eighth measuring branch 3.8.

[0082] MZ=F5*d2+F6*d2+F7*d2+F8*d2

[0083] During the operation of the measuring device provided by the present invention, the eight measuring branch components included in the first decoupling measurement branch assembly can undergo a slight rotation through the design of the two joint bearings located on both sides of the first force sensing element of each measuring branch component, and the design of the supporting decoupling steel balls constrained between the top surface of the lower mounting seat and the bottom surface of the upper mounting seat included in the second decoupling measurement branch assembly can undergo a slight rotation when the second decoupling measurement branch assembly is subjected to force. Therefore, the inter-dimensional coupling problem in the field of six-dimensional force measurement can be effectively solved through the measuring device provided by the present invention.

[0084] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A decoupled space six-dimensional force measurement device, characterized in that: include: A force sensing plate and a mounting base having an inner cavity, wherein the mounting base comprises a bottom wall and a side wall; a second decoupling measurement branch assembly located in the inner cavity and fixed on the bottom wall; as well as A force transmission beam in a cross structure fixed to an end of the second decoupling measurement branch assembly away from the bottom wall; The force sensing plate is fixed to a side of the force transmission beam away from the second decoupling measurement branch assembly; The measuring device also includes a first decoupling measurement branch component; Define the Cartesian coordinate system orientation; The force direction of the second decoupling measurement branch component is along the Z direction; The first decoupling measurement branch component comprises: Four measuring branches arranged along the Z direction in the axial direction, and four measuring branches arranged along the horizontal direction in the axial direction; wherein, Taking the center of the force transmission beam as the origin, four measuring branches arranged along the Z direction in the axial direction are arranged around the force transmission beam and are respectively located in the XY direction of the Cartesian coordinate system; the two ends of the measuring branch arranged along the Z direction in the axial direction are respectively fixed to the force sensing plate and the bottom wall of the mounting base; Taking the center of the force transmission beam as the origin, the measuring branches arranged in the horizontal direction in four axial directions are arranged around the force transmission beam and are respectively located in the four quadrants of the Cartesian coordinate system; The two ends of the measuring branch members arranged in the horizontal direction along the axial direction are respectively fixed to the force transmission beam and the side wall of the mounting base; the axial extension directions of the four measuring branch members arranged in the horizontal direction along the axial direction are alternately arranged in the X direction and the Y direction; The second decoupling measurement branch component comprises: A second force sensing element fixed to the top surface of the bottom wall of the mounting base; a lower mounting base fixed to the top surface of the second force sensing element; an upper mounting base fixed to the bottom of the force transfer beam; and A support decoupling steel ball constrained between the top surface of the lower mounting seat and the bottom surface of the upper mounting seat; The second decoupling measurement branch component is located at the center of the first decoupling measurement branch component; a first force sensing element; Two spherical bearings axially located on both sides of the first force sensing element; and Two branch member mounting seats axially located on the two spherical bearings at a side away from the first force sensing element; Wherein, the fixed end of the joint bearing is connected to the first force sensing element, and the movable end of the joint bearing is connected to the branch component mounting seat through a mounting shaft.

2. The measuring device according to claim 1, characterized in that The side wall of the mounting base is formed with an accommodating groove for accommodating a measuring branch member arranged in the axial direction along the Z direction.

3. The measuring device according to claim 1, characterized in that The lower mounting seat includes a stud connected to the second force sensing element, the stud passes through the second force sensing element and the bottom wall of the mounting base, and the end of the stud is provided with a slot; The upper mounting seat and the force transfer beam are connected and fixed by means of threaded fitting.

4. The measuring device according to claim 1, characterized in that The mounting base includes a first structure body with an annular structure forming a side wall, and a second structure body with a disc-shaped structure covering the central hollow portion of the first structure body; the second structure body forms the bottom wall of the mounting base.

5. The measuring device according to claim 1, characterized in that A spacing space is provided between the bottom surface of the force sensing plate and the top surface of the side wall of the mounting base for the force sensing plate to move along the Z direction toward the mounting base.

6. The measuring device according to claim 1, characterized in that The force transmission beam includes four fixed arms extending in the XY direction of the Cartesian coordinate system, and the four axial measurement branches arranged in the horizontal direction are alternately arranged in the circumferential direction with the four fixed arms.

7. The measuring device according to claim 1, characterized in that The first force sensing element and the second force sensing element are tension and pressure sensors.

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