Assembly type decoupling six-dimensional force measuring platform

Abstract

The invention discloses an assembly type decoupling six-dimensional force measuring platform. The force measuring platform comprises an upper elastic force measuring body, a lower elastic force measuring body, an elastic column and an elastic motion branch chain. The upper elastic force measuring body comprises an upper center block, a vertical double-connecting-hole structure, an elastic beam and an angle block, the lower elastic force measuring body comprises a lower center block and a horizontal double-connecting-hole structure, the upper center block and the lower center block are connected through an elastic column, one end of the vertical double-connecting-hole structure is connected with the upper center block, and the other end of the vertical double-connecting-hole structure is connected with the angle block through the elastic beam. One end of the horizontal double-connecting-hole structure is connected with the end block of the lower center block, the other end of the horizontal double-connecting-hole structure is connected with the angle block through the elastic movement branch chain, and the vertical double-connecting-hole structure and the horizontal double-connecting-hole structure are both provided with strain gauges. According to the invention, detection and sensing of forces and moments in three orthogonal directions can be realized at the same time, coupling crosstalk among components is avoided, the difficulty of a decoupling algorithm is effectively reduced, and the method is suitable for application occasions of gait force sensing of humanoid and wheel-foot robots, biomechanical test platforms, high-end manufacturing equipment and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of six-dimensional force measuring platforms, and in particular to an assembled decoupled six-dimensional force measuring platform. Background Art

[0002] The six-dimensional force measuring platform is a platform that can measure forces and torques in three orthogonal directions. It is widely used in the fields of robotics, automated assembly, and aerospace. In practical applications, due to structural and processing errors, the six-dimensional force measuring platform will produce inter-dimensional coupling, that is, the input of one dimension will affect the output of other dimensions, which will seriously affect the measurement accuracy of the platform. At present, the decoupling research of the six-dimensional force measuring platform mainly focuses on two aspects: on the one hand, the structure and manufacturing process of the platform are improved in order to eliminate the inter-dimensional coupling. Usually, the decoupling is achieved by improving the platform structure and the layout of the strain gauges. On the other hand, the static decoupling algorithm is used to achieve the measurement of force / torque by finding the mapping relationship between the platform output signal and the force / torque. Researchers who are studying the assembled decoupled six-dimensional force measuring platform are more devoted to the research of static decoupling algorithms, but lack improvements in the platform structure. For example, the invention patent application with application publication number CN114812908A, which applies for an eight-branch orthogonal parallel six-component force platform and its structural optimization method, has four horizontal force measurement branches and four vertical force measurement branches. Since each measurement branch has structural rigid constraints, it is difficult to achieve structural decoupling, and software decoupling needs to be achieved through an intelligent decoupling algorithm. Or, as in the patent with authorization announcement number CN204495502U, although a column is provided to connect the force measurement platform and the fixed platform together, which is conducive to the measurement of normal torque and two lateral forces, it is not conducive to the measurement of normal force and two lateral moments.

[0003] In view of the shortcomings of existing technologies, there is an urgent need to develop a six-dimensional force measurement platform that has a compact structure, controllable costs, is easy to process and manufacture, has the advantages of high linearity, high sensitivity, strong inter-dimensional decoupling, and can realize spatial full force information detection, so as to effectively match the application needs of intelligent robots, industrial automation, high-end equipment and other fields for high-performance six-dimensional force measurement platforms. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and to provide an assembled decoupled six-dimensional force measuring platform.

[0005] The technical solution of the present invention is: an assembled decoupled six-dimensional force measuring platform includes an upper elastic force measuring body, a lower elastic force measuring body, a vertical elastic column and an elastic motion branch chain; the upper elastic force measuring body includes an upper center block, a vertical double-connected hole structure, an elastic beam and a corner block; the lower elastic force measuring body is windmill-shaped as a whole, including a lower center block and a horizontal double-connected hole structure; the lower center block is fixed to the outside; the upper center block and the lower center block are connected by an elastic column, so that the upper center block can be twisted and displaced in any direction under force; one end of the vertical double-connected hole structure is connected to the side of the upper center block, and the other end is connected to the elastic beam; the end of the elastic beam is connected to the corner block; the corner block applies the force it receives to the upper center block through the elastic beam and the vertical double-connected hole structure, so that the upper center block is twisted or displaced; the corner blocks are distributed around the upper center block, and are used to transmit the externally applied force / torque to the upper center block; the corner of the lower center block extends outward The end block is arranged perpendicular to the side of the lower center block, one end of which is connected to the side of the end block, and the other end of which is connected to the bottom of the elastic motion branch chain; the horizontal double-hole structure and the end block form a simply supported beam; the bottom of the corner block is connected to the top of the elastic motion branch chain, and also transmits the externally applied force / torque to the end of the horizontal double-hole structure; the vertical double-hole structure and the horizontal double-hole structure are both equipped with strain gauges on both sides, which are used to detect the deformation of the vertical double-hole structure and the horizontal double-hole structure respectively; the vertical double-hole structure and the horizontal double-hole structure are both double-hole structures, but they are oriented in different directions; the double-hole structure is an existing mature technology, including two large circular holes side by side and a straight groove connecting the large circular holes; the strain gauge is arranged at a position corresponding to the axis of the large circular hole, which is also the thinnest position; this position is most prone to deformation; the strain gauge is more sensitive to the detection of force / torque.

[0006] Preferably, the upper elastic force measuring body and the lower elastic force measuring body are both processed in one piece, which is convenient for processing and effectively avoids gaps and frictions at the joints, thereby improving the calibration measurement accuracy of the assembled decoupled six-dimensional force measuring platform.

[0007] Preferably, an assembled decoupled six-dimensional force measuring platform also includes a force measuring platform plate; the four corners of the force measuring platform plate are connected to the top surface of the corner block through screws, so as to transmit the externally applied force / torque to the corner block.

[0008] Furthermore, the force measuring platform plate is provided with radially arranged mounting screw holes for connecting with the static load to ensure connection stability.

[0009] Preferably, the elastic beam includes an inner beam body and an outer beam body; the inner beam body is connected to the end of the vertical double-connected hole structure, and the end is connected to the corner block; the outer beam body is arranged on the outside of the inner beam body, and the end is connected to the corner block; the inner beam body and the outer beam body cooperate to increase the connection strength between the end of the vertical double-connected hole structure and the corner block.

[0010] Furthermore, the elastic beam also includes a triangular block; the triangular block is arranged at the end of the vertical double-connected hole structure; the inner beam body and the outer beam body are connected through the triangular block, which is used to increase the connection strength between the inner beam body and the outer beam body.

[0011] Preferably, a plurality of grooves are evenly distributed on the side surface of the elastic column, which can increase the elastic deformation capacity of the elastic column and ensure the support for the upper elastic force measuring body.

[0012] Furthermore, the groove exceeds half of the circumference of the elastic column; the part of the circumference of the elastic column that is not cut by the groove is a connecting rib; every two adjacent grooves form a group; the grooves in the same group are staggered by 180°; adjacent grooves in different groups are staggered by the same angle; an elastic thin beam layer is provided on the side of the elastic column; the elastic thin beam layer is arranged between the grooves in the same group, corresponding to the overlapping part of the vertical projection of the two grooves in the group; when the upper elastic force measuring body is subjected to lateral force or normal torque, the connecting rib enables the elastic column to resist lateral force and torsional deformation, so that the upper center block and the lower center block will not be dislocated from each other due to the lateral force or normal torque; elastic movement The branch chain allows the corner block and the end of the horizontal double-connected hole to be offset from each other; in this way, the lateral force or normal torque is transmitted to the vertical double-connected hole structure as much as possible, and is detected by the strain gauges on both sides of the vertical double-connected hole structure; when the upper elastic force measuring body is subjected to the normal force or lateral moment, the elastic thin beam layer and the slit allow the elastic column to deform axially and bend, and the elastic motion branch chain transmits the normal force or lateral moment to the end of the horizontal double-connected hole as much as possible, causing the middle part of the horizontal double-connected hole structure to bend and deform; the strain gauges on both sides of the horizontal double-connected hole structure detect the deformation; in this way, interference factors are eliminated as much as possible from the structure, which facilitates reducing the coupling of forces / torques between dimensions.

[0013] Preferably, the strain gauge bridges arranged on both sides of the vertical double-hole structure in the same direction close to the upper center block are used to measure the lateral force in the horizontal direction perpendicular to the vertical double-hole structure; the strain gauge bridges arranged on both sides of the vertical double-hole structure close to the elastic beam are used to measure the normal torque; the four strain gauge bridges arranged in the horizontal double-hole structure close to the elastic motion branch chain slot are used to measure the lateral torque; among the four strain gauges, the strain gauges on the relative horizontal double-hole structures are not on the same side of the lower center block; the strain gauge bridge arranged in the horizontal double-hole structure close to the end block is used to measure the normal force.

[0014] Preferably, the lower center block is provided with a sinking hole matching the lower end of the elastic column; the lower end of the elastic column is inserted into the sinking hole; the elastic column and the lower center block are connected by screws; the sinking hole limits the horizontal position of the lower end of the elastic column to ensure the support stability.

[0015] The beneficial effects of the present invention are as follows: the assembled decoupled six-dimensional force measuring platform of the present invention has the following advantages:

[0016] (1) The present invention provides a new decoupled six-dimensional force measurement platform structure, which can detect and sense the forces and moments in three orthogonal directions respectively, effectively avoid coupling crosstalk between the components, facilitate calibration and effectively reduce the difficulty of decoupling algorithm, improve the sensitivity of the force measurement platform, and is suitable for humanoid and wheeled robot gait force perception, biomechanical test platform, high-end manufacturing equipment and other applications;

[0017] (2) The upper elastic force measuring body and the lower elastic force measuring body of the present invention are both processed in one piece, which is convenient for processing and effectively avoids the gap and friction at the connection, thereby improving the calibration measurement accuracy of the assembled decoupled six-dimensional force measuring platform;

[0018] (3) The elastic column of the present invention connects the upper center block and the lower center block into one; when the corner block of the upper elastic force measuring body is subjected to lateral force / normal torque, the elastic column can suppress the mutual misalignment between the upper center block and the lower center block, and the lateral force / normal torque acts on the vertical double-hole structure as much as possible, which is beneficial to the strain gauge at the vertical double-hole structure to measure the lateral force / normal torque and avoid coupling crosstalk; when the corner block of the upper elastic force measuring body is subjected to normal force / lateral torque, the elastic column can perform adaptive elastic deformation, so that the normal force / lateral torque can act on the end of the horizontal double-hole structure through the elastic motion branch chain, which is beneficial to the strain gauge at the horizontal double-hole structure to measure the normal force / lateral torque and avoid coupling crosstalk;

[0019] (4) The elastic beam of the present invention can stably apply the lateral force / normal torque from the corner block to the outer end of the vertical double-hole structure, so that the strain gauge at the vertical double-hole structure can measure the lateral force / normal torque. It can also perform corresponding elastic bending deformation according to the normal force / lateral torque brought by the corner block, so that the normal force / lateral torque can stably act on the end of the horizontal double-hole structure, so that the strain gauge at the horizontal double-hole structure can measure the normal force / lateral torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional assembly decoupling type six-dimensional force measurement platform of the present invention. Figure 1 ;

[0021] Figure 2 It is a three-dimensional assembly decoupling type six-dimensional force measurement platform of the present invention. Figure 2 ;

[0022] Figure 3 yes Figure 1 A front view of

[0023] Figure 4 yes Figure 3 AA section view and measurement F x 、F y and M zThe Wheatstone full bridge circuit diagram;

[0024] Figure 5 yes Figure 3 BB cross-sectional view and measurement M x 、M y and F z The Wheatstone full bridge circuit diagram;

[0025] Figure 6 It is a partial cross-sectional view of an assembled decoupled six-dimensional force measuring platform of the present invention;

[0026] Figure 7 is a stereogram of an elastic column;

[0027] Figure 8 are the eight paths of the upper elastic force measuring body;

[0028] Fig. 9 are the eight paths of the lower elastic force-measuring body;

[0029] Fig.10 Is to apply F x =200N, the positive linear elastic strain diagram on a total of eight paths defined on the two sides of the four vertical double-connected hole structures;

[0030] Fig.11 Is to apply F x =200N, the positive linear elastic strain diagram on a total of eight paths defined on the two sides of the four horizontal double-connected hole structures;

[0031] In the figure: 1. upper elastic force measuring body, 11. upper center block, 121. first vertical double-connected hole structure, 122. second vertical double-connected hole structure, 123. third vertical double-connected hole structure, 124 fourth vertical double-connected hole structure, 131. inner beam body, 132. outer beam body, 133. triangle block, 14. corner block, 2. lower elastic force measuring body, 21. lower center block, 211. end block, 212. sinker hole, 221. first horizontal double-connected hole structure, 222. second horizontal double-connected hole structure, 223. third horizontal double-connected hole structure, 224. fourth horizontal double-connected hole structure, 3. elastic column, 31. groove, 32. connecting rib, 33. elastic thin beam layer, 4. elastic motion branch chain, 5. force measuring platform, 51. mounting screw hole, strain gauge R1-R32. DETAILED DESCRIPTION

[0032] Example 1: See Figure 1-6An assembled decoupled six-dimensional force measuring platform includes an upper elastic force measuring body 1, a lower elastic force measuring body 2, a vertical elastic column 3 and an elastic motion branch chain 4; the upper elastic force measuring body 1 includes an upper center block 11, a vertical double-connected hole structure, an elastic beam, and a corner block 14; the lower elastic force measuring body 2 is windmill-shaped as a whole, including a lower center block 21 and a horizontal double-connected hole structure; the lower center block 21 is fixedly connected to the outside; the upper center block 11 and the lower center block 21 are connected through the elastic column 3, so that the upper center block 1 1 can be twisted and displaced in any direction under force; one end of the vertical double-connected hole structure is connected to the side of the upper center block 11, and the other end is connected to the elastic beam; the end of the elastic beam is connected to the corner block 14; the corner block 14 applies the force to the upper center block 11 through the elastic beam and the vertical double-connected hole structure, so that the upper center block 11 is twisted or displaced; the corner blocks 14 are distributed around the upper center block 11 to transmit the external force / torque to the upper center block 11; the corner blocks 14 of the lower center block 21 are connected ... The end block 211 extends outward from the lower center block 21; the end block 211 is distributed around the circumference of the elastic column 3; the horizontal double-connected hole structure is arranged perpendicular to the side of the lower center block 21, one end is connected to the side of the end block 211, and the top surface of the other end is connected to the bottom surface of the elastic motion branch chain 4; the horizontal double-connected hole structure and the end block 211 form a simply supported beam; the bottom surface of the corner block 14 is connected to the top surface of the elastic motion branch chain 4, and also transmits the externally applied force / torque to the end of the horizontal double-connected hole structure; the vertical double-connected hole structure and the horizontal double-connected hole structure are both equipped with strain gauges on both sides, which are used to detect the deformation of the vertical double-connected hole structure and the horizontal double-connected hole structure respectively; the vertical double-connected hole structure and the horizontal double-connected hole structure are both double-connected hole structures, but the two are oriented in different directions; the double-connected hole structure is an existing mature technology, including two large circular holes side by side and a straight groove connecting the large circular holes; the strain gauge is arranged at a position corresponding to the axis of the large circular hole, which is also the thinnest position; this position is most prone to deformation; the strain gauge is more sensitive to the detection of force / torque.

[0033] Compared with the prior art, the present invention provides a new decoupled six-dimensional force measuring platform structure, which can detect and sense the forces and moments in three orthogonal directions respectively, effectively avoid coupling crosstalk between components, and facilitate calibration.

[0034] The upper elastic force measuring body 1 and the lower elastic force measuring body 2 are both processed in one piece, which is convenient for processing and effectively avoids gaps and frictions at the joints, thereby improving the calibration measurement accuracy of the assembled decoupled six-dimensional force measuring platform.

[0035] An assembled decoupled six-dimensional force measuring platform also includes a force measuring platform plate 5; the four corners of the force measuring platform plate 5 are connected to the top surface of the corner block 14 through screws, so as to transmit the externally applied force / torque to the corner block 14.

[0036] The force measuring plate 5 is provided with radially arranged mounting screw holes 51 for connecting with the static load to ensure the connection stability.

[0037] The elastic beam includes an inner beam body 131 and an outer beam body 132; the inner beam body 131 is connected to the end of the vertical double-connected hole structure, and the end is connected to the corner block 14; the outer beam body 132 is arranged on the outside of the inner beam body 131, and the end is connected to the corner block 14; the inner beam body 131 and the outer beam body 132 cooperate to increase the connection strength between the end of the vertical double-connected hole structure and the corner block 14.

[0038] The elastic beam also includes a triangular block 133 ; the triangular block 133 is arranged at the end of the vertical double-connected hole structure; the inner beam body 131 and the outer beam body 132 are connected by the triangular block 133 to increase the connection strength between the inner beam body 131 and the outer beam body 132 .

[0039] A plurality of grooves 31 are evenly distributed on the side surface of the elastic column 3 , which can increase the elastic deformation capacity of the elastic column 3 and ensure the support of the elastic force measuring body 1 .

[0040] The groove 31 exceeds half of the circumference of the elastic column 3; the part of the circumference of the elastic column 3 that is not cut by the groove 31 is the connecting rib 32; each two adjacent grooves 31 form a group; the grooves 31 in the same group are staggered by 180°; adjacent grooves 31 in different groups are staggered by the same angle; an elastic thin beam layer 33 is provided on the side of the elastic column 3; the elastic thin beam layer 33 is arranged between the grooves 31 in the same group, corresponding to the overlapping part of the vertical projection of the two grooves 31 in the group; when the upper elastic force measuring body 1 is subjected to lateral force or normal torque, the connecting rib 32 enables the elastic column 3 to resist lateral force and torsional deformation, so that the upper center block 11 and the lower center block 21 will not be deformed due to the lateral force or normal torque mutually dislocated; the elastic motion branch chain 4 enables the corner block 14 and the end of the horizontal double-connected hole to be dislocated with each other; in this way, the lateral force or normal torque is transmitted to the vertical double-connected hole structure as much as possible, and is detected by the strain gauges on both sides of the vertical double-connected hole structure; when the upper elastic force measuring body 1 is subjected to the normal force or lateral torque, the elastic thin beam layer 33 and the slit allow the elastic column 3 to deform axially and bend, and the elastic motion branch chain 4 transmits the normal force or lateral torque to the end of the horizontal double-connected hole as much as possible, causing the middle part of the horizontal double-connected hole structure to bend and deform; the strain gauges on both sides of the horizontal double-connected hole structure detect the deformation; in this way, interference factors are eliminated as much as possible from the structure, so as to reduce the coupling of forces / torques between dimensions.

[0041] The lower center block 21 is provided with a sinking hole 212 matching the lower end of the elastic column 3; the lower end of the elastic column 3 is inserted into the sinking hole 212; the elastic column 3 and the lower center block 21 are connected by screws; the sinking hole 212 limits the horizontal position of the lower end of the elastic column 3 to ensure the support stability.

[0042] This embodiment and the accompanying drawings only list one strain gauge arrangement and bridge connection scheme for decoupling the six-dimensional force measuring platform. The layout position and bridge assembly method can also be selected according to the actual needs of decoupling, and all fall within the scope of protection of this patent.

[0043] The decoupling characteristics of the platform in Example 1 were analyzed using ANSYS software. Fig.10 , 11 According to the directions and states shown in the figure, the geometric center of the force measuring platform 5 establishes a spatial coordinate system O-XYZ, the positive direction of OX is the first vertical double-connected hole structure 121 and the fourth horizontal double-connected hole structure 224, the negative direction of the OX axis is the third vertical double-connected hole structure 123 and the second horizontal double-connected hole structure 222, the positive direction of the OY axis is the second vertical double-connected hole structure 122 and the first horizontal double-connected hole structure 221, and the negative direction of the OY axis is the fourth vertical double-connected hole structure 124 and the third horizontal double-connected hole structure 223.

[0044] See also Figure 8 In the upper elastic force measuring body 1: the four strain gauges R1-R4 bridges attached to the notch near the upper center block 11 and in the defined path 1-4 area are used to measure the lateral force F x ; The four strain gauges R5-R8 bridge group attached to the notch near the upper center block 11 and in the defined path 5-8 area is used to measure the lateral force F y ; Eight strain gauges R9-R16 attached to the notch near the elastic beam and in the defined path 1 to 8 area are used to measure the moment M z .

[0045] See also Fig. 9 In the lower elastic force measuring body 2: the four strain gauges R17-R20 bridge group attached to the lower elastic force measuring body 2 near the notch of the elastic motion branch 4 and in the defined path 9-12 area is used to measure the bending moment M x The four strain gauges R21-R24 bridge group attached to the lower elastic force measuring body 2 near the notch of the elastic motion branch chain 4 and in the defined path 13-16 area is used to measure the bending moment M y The eight strain gauges R25-R32 bridges attached to the lower elastic force measuring body 2 near the fixed end notch of the horizontal double-hole structure and in the defined path 9-16 area are used to measure the normal force F z .

[0046] This embodiment is shown in the finite element simulation process. Fig.10 , 11 According to the strain output characteristics of the Wheatstone full-bridge circuit, and based on the forward linear elastic strain simulation values ​​of 32 strain gauge pasting areas in 16 paths defined on the vertical double-connected hole structure and the horizontal double-connected hole structure under various dimensional loads, the expected and coupled strain outputs of the six measurement channels under unidimensional loads can be obtained as shown in Table 1:

[0047] Table 1 shows the expected and coupled strain outputs of the six measurement bridges under unidimensional loading.

[0048]

[0049] The main diagonal elements of the bridge output in Table 1 are the expected strain outputs of the corresponding measurement bridge under the action of the load component to be measured, and the other elements are the coupled strain outputs of the non-measurement bridge under the action of the load component to be measured, where με represents microstrain and 1με=10 -6 mm / mmSpecifically:

[0050] (1) Apply F x =200N, used to measure F x The strain output of the measurement bridge 1 of the load is 33.601με, while the total coupled strain output caused by the other five-dimensional loads in the measurement bridge 1 is -0.340με, and the coupled strain is 0.340 / 33.601=1.012%FS

[0051] (2) Apply F y =200N, used to measure F x The strain output of the measurement bridge 1 of the load is 33.528με, while the total coupled strain output caused by the other five-dimensional loads in the measurement bridge 1 is 0.353με, and the coupled strain is 0.353 / 33.528=1.053%FS

[0052] (3) Apply F z =100N, used to measure F x The strain output of the measurement bridge 1 of the load is 163.613με, while the total coupled strain output caused by the other five-dimensional loads in the measurement bridge 1 is -1.5με, and the coupled strain is 1.5 / 163.613=0.916%FS

[0053] (4) Apply M x =4N·m, used to measure F x The strain output of the measurement bridge 1 of the load is 145.225με, while the total coupled strain output caused by the other five-dimensional loads in the measurement bridge 1 is -0.278με, and the coupled strain is 0.278 / 145.225=0.191%FS

[0054] (5) Apply M y =4N·m, used to measure F x The strain output of the measurement bridge 1 of the load is 145.185με, while the total coupled strain output caused by the other five-dimensional loads in the measurement bridge 1 is 0.766με, and the coupled strain is 0.766 / 145.185=0.528%FS

[0055] (6) Apply M z =8N·m, used to measure F xThe strain output of the measurement bridge 1 of the load is 32.738με, while the total coupled strain output caused by the other five-dimensional loads in the measurement bridge 1 is 0.309με, and the coupled strain is 0.309 / 32.738=0.944%FS

[0056] It can be seen from the analysis of the above embodiments that the designed six-dimensional force measurement platform can effectively suppress the coupling crosstalk of the output signals between the forces in each dimension.

[0057] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

[0058] The above is a specific description of the technical idea of ​​the present invention, but it cannot be used to limit the protection scope of the present invention. Any equivalent implementation or modification that does not deviate from the present invention should be included in the patent scope of the present invention.

Claims

1. An assembled decoupled six-dimensional force measuring platform, characterized in that: It includes an upper elastic force-measuring body, a lower elastic force-measuring body, a vertical elastic column and an elastic motion branch chain; the upper elastic force-measuring body includes an upper center block, a vertical double-connected hole structure, an elastic beam and a corner block; the lower elastic force-measuring body is windmill-shaped as a whole, including a lower center block and a horizontal double-connected hole structure; the upper center block and the lower center block are connected through an elastic column; one end of the vertical double-connected hole structure is connected to the side surface of the upper center block, and the other end is connected to the elastic beam; the end of the elastic beam is connected to the corner block; the corner blocks are distributed around the upper center block; the corners of the lower center block extend outward to form end blocks; the end blocks are distributed around the elastic column; the horizontal double-connected hole structure is perpendicular to the side surface of the lower center block, one end is connected to the side surface of the end block, and the other end top surface is connected to the bottom surface of the elastic motion branch chain; the bottom surface of the corner block is connected to the top surface of the elastic motion branch chain; the vertical double-connected hole structure and the horizontal double-connected hole structure are both provided with strain gauges installed on both sides.

2. The assembled decoupled six-dimensional force measuring platform according to claim 1, characterized in that: The upper elastic force measuring body and the lower elastic force measuring body are both processed in one piece.

3. The assembled decoupled six-dimensional force measuring platform according to claim 1, characterized in that: It also includes a force measuring platform plate, the four corners of which are connected to the top surface of the corner block through screws, and the force measuring platform plate is provided with radially arranged mounting screw holes.

4. The assembled decoupled six-dimensional force measuring platform according to claim 1, characterized in that: The elastic beam comprises an inner beam body and an outer beam body, wherein the inner beam body is connected to the end of the vertical double-connected hole structure and the end is connected to the corner block, and the outer beam body is arranged outside the inner beam body and the end is connected to the corner block.

5. The assembled decoupled six-dimensional force measuring platform according to claim 4, characterized in that: The elastic beam also includes a triangular block, which is arranged at the end of the vertical double-connected hole structure, and the inner beam body and the outer beam body are connected through the triangular block.

6. The assembled decoupled six-dimensional force measuring platform according to claim 1, characterized in that: A plurality of grooves are evenly distributed on the side of the elastic column, and the grooves exceed half of the circumference of the elastic column. Every two adjacent grooves form a group, and the grooves in the same group are staggered by 180°, and adjacent grooves in different groups are staggered by the same angle. An elastic thin beam layer is provided on the side of the elastic column, and the elastic thin beam layer is arranged between the grooves in the same group and corresponds to the overlapping part of the vertical projection of the two grooves in the group.

7. The assembled decoupled six-dimensional force measuring platform according to claim 1, characterized in that: The strain gauge bridges arranged on both sides of the vertical double-hole structure in the same direction and close to the upper center block are used to measure the lateral force in the horizontal direction perpendicular to the vertical double-hole structure, the strain gauge bridges arranged on both sides of the vertical double-hole structure close to the elastic beam are used to measure the normal torque, and the four strain gauge bridges arranged in the horizontal double-hole structure close to the elastic motion branch chain slot are used to measure the lateral torque. Among the four strain gauges, the strain gauges on the relative horizontal double-hole structures are not on the same side of the lower center block, and the strain gauge bridge arranged in the horizontal double-hole structure close to the end block is used to measure the normal force.

8. The assembled decoupled six-dimensional force measuring platform according to claim 1, characterized in that: The lower center block is provided with a sinking hole matching the lower end of the elastic column, the lower end of the elastic column is inserted into the sinking hole, and the elastic column and the lower center block are connected by screws.

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