Spoke-based six-component force sensor and patch design method thereof

Abstract

The invention discloses a spoke-based six-component force sensor and a patch design method thereof, and belongs to the field of force sensors. A spoke type six-component force sensor comprises a hub, a spoke, a wheel rim and a strain patch. The hub is of a cylinder structure, four through holes with the same size are formed in the top face of the hub, and four through holes with the same size are formed in the bottom face of the wheel rim and are symmetrically distributed. Equal-ratio radian is introduced into the spokes, the spokes are cuboids with radians, the radians of the spokes connected with the hub and the radians of the spokes connected with the rim are kept consistent, and the four spokes are evenly distributed on the outer vertical face of the hub. And the strain patch is fixedly connected with the spoke. According to the invention, the four spokes are uniformly distributed on the same plane, the patch layout combining the vertical plane and the parallel plane is adopted, the patch positions are kept uniform and symmetrical, and the symmetrical distribution is realized. According to the invention, good self-decoupling capability between forces and moments in the X, Y and Z directions is facilitated, inter-dimensional coupling is reduced, and the measurement precision of the sensor is improved.

Description

Technical Field

[0001] The invention relates to a spoke-type six-component force sensor and a patch design method thereof, belonging to the field of force sensors. Background Art

[0002] With the development of technology and the deepening of scientific research, the application demand of six-component force sensors in various fields is gradually increasing. This sensor can measure the force in three directions (F X , F Y , F Z ) and the moments in three directions (M X , M Y , M Z ), and performs well in high-precision measurement and complex mechanical environments. Traditional six-component force sensors mostly use a more complex structure, are larger in size, and have certain difficulties in installation and use.

[0003] The patch design method of the spoke-type six-component force sensor is an innovative solution that has been widely used in the field of six-component force sensors in recent years. The spoke-type structure refers to a sensor in which the central part is fixed and multiple spokes are evenly distributed on the periphery. The advantage of this structure lies in its good force distribution characteristics and efficient measurement performance. This sensor patch achieves efficient force transmission and detection through an innovative spoke-type structural design, and is suitable for various measurement scenarios requiring high precision and high stability. The present invention optimizes the structural design of the sensor, improves the sensor accuracy, reduces the production cost, and designs a more reasonable patch structure to improve the stability and transmission efficiency of the signal. By solving the problems of insufficient accuracy, high manufacturing cost, poor adaptability and patch design, the present invention can provide a more efficient, sensitive and accurate six-component force sensor. Summary of the invention

[0004] One of the purposes of the present invention is to provide a spoke-type six-component force sensor, which has a larger patch space and higher sensitivity. On this basis, the second purpose of the present invention is to provide a patch design method based on a spoke-type six-component force sensor, which can effectively control the size of the sensor and save costs.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] The invention discloses a spoke-type six-component force sensor, which comprises a hub, spokes, a hoop and a strain patch.

[0007] The wheel hub is a cylindrical structure. The top surface of the wheel hub is provided with four through holes of the same size, and the bottom surface of the wheel hoop is provided with four through holes of the same size, which are symmetrically distributed.

[0008] The wheel spokes are rectangular parallelepiped with curvature, the curvature of the wheel spokes connected to the wheel hub is consistent with the curvature of the wheel hoop connected to the wheel spokes, and the four wheel spokes are evenly arranged on the outer facade of the wheel hub;

[0009] The strain patch is fixedly connected to the spoke, and the strain patch is located on the upper surface, lower surface and side surface of the spoke;

[0010] The wheel hoop is an annular structure, and is fixedly connected to one end of the wheel spoke away from the wheel hub.

[0011] Furthermore, the strain patch has a rectangular structure and is respectively arranged at corresponding positions on the upper and lower surfaces of the spokes. Each sensor has 8 strain gauges attached to each crossbeam of the spoke, with a total of 32 strain gauges, forming 6 bridges, with a total of 6 output signals. The measurement circuits all use DC symmetrical full-bridge measurement circuits, and the bridge supply voltage is 10V.

[0012] The strain patches all use 5 mm and 3 mm sensitive grids, and the dimensions of the sensitive grids are 5.0×2.9 mm and 3.2×3.1 mm in length×width.

[0013] Furthermore, the strain patches are evenly arranged at intervals on the upper surface, lower surface and side surfaces of the spokes to ensure uniformity and accuracy of force and torque measurements of the sensor in all directions.

[0014] Furthermore, the wheel hub and the wheel rim are provided with four sections which are symmetrically distributed.

[0015] Furthermore, the wheel hoop is provided with a square boundary and an inner circular through hole, and the through hole is used for line connection and cable fixing, and is connected with the measuring circuit of the sensor.

[0016] Furthermore, the tooling is distributed on the front side of the wheel hub when viewed from above, and the length directions of the four through holes are arranged along the radial direction perpendicular to the wheel hub; and distributed on the front side of the wheel rim when viewed from above, and the length directions of the four through holes are arranged along the radial direction perpendicular to the wheel rim.

[0017] Furthermore, the spoke is a rectangular parallelepiped with an arc, and the cross-sectional shape of the spoke is optimized to be a rectangle, which is the main strain gauge area and presents a flat shape.

[0018] The present invention discloses a patch design method based on a spoke-type six-component force sensor, which is used for the spoke-type six-component force sensor and includes the following steps:

[0019] S1: Construct the spoke-type six-component force sensor hub and hoop end face load-bearing form.

[0020] The wheel hoop is a circular ring structure, and the wheel hoop is coaxially arranged with the wheel hub.

[0021] In mechanical analysis, the wheel hub is directly subjected to force and deforms. The outer radius of the wheel hub R is:

[0022]

[0023] Where r is the inner radius of the hub and σ is the stress. According to the mechanical strength analysis, when the load is doubled, the bearing form of the hub and the hoop end faces is designed to meet the six component deformation limit values.

[0024] S2: Construct the spoke structure of a spoke-type six-component force sensor.

[0025] The spoke of the spoke-type elastic body is equivalent to a beam. Based on the bending strength of the beam, the maximum bending stress of the spoke is:

[0026]

[0027] When the spoke sensor applies a load p, the length-to-height ratio of the spoke is limited by the bending strength. Introducing the transition zone, in the structural design, the "proportional arc" is introduced to the spoke, and the change in the cross-sectional area bh of the spoke will affect the distribution of strain.

[0028] S3: Construct the transition form between the spoke, hoop and hub of the spoke-type six-component force sensor.

[0029] The transition form between the spoke and the hub is that a first transition fillet is provided at the connection point to optimize stress distribution and reduce local stress concentration.

[0030] The transition form between the spoke and the wheel hoop is that a second transition fillet is provided at the connection point to further optimize stress distribution.

[0031] S4: According to the coupling situation of the spoke-type six-component force sensor, determine the patch method specific to the spoke-type six-component force sensor.

[0032] A=BX (3)

[0033] A is an n×6-dimensional array composed of standard loads, and B is composed of the output signals of the spoke-type six-component force sensor, where B=[F 1 ,…F 6 ,F 1 F 2 ,…F 5 F 6 ,F 1 2 ,…F 6 2 ] 27×1

[0034] According to formula (3), the decoupling forms of the three force components FX, FY, FZ and the three torque components MX, MY, MZ of the spoke-type six-component force sensor are determined.

[0035] According to formula (4), the average accuracy evaluation algorithm is used to calculate the average accuracy of the patch method:

[0036]

[0037] Where: N and I represent the total number of samples and the indicator function respectively.

[0038] According to formula (5), the performance of different patch methods is determined by calculating the average accuracy, and the patch method with the largest average accuracy is selected as the optimal patch design result. According to the optimal patch design result, the best decoupling effect of the six components can be obtained to the greatest extent, thereby improving the measurement accuracy of the sensor.

[0039] Furthermore, it was determined that the ratio of the spoke rectangle length to the spoke arc radius in the optimal transition zone is 5:1, which can increase the sensitivity of the sensor while suppressing the damage to the sensor elastomer caused by overload, lateral stress and eccentric load, and significantly increase the stability and impact resistance of the sensor.

[0040] Beneficial effects:

[0041] 1. The present invention discloses a spoke-type six-component force sensor and a patch design method thereof. By evenly distributing four spokes on a plane, adopting a patch layout combining vertical and parallel planes, and keeping the patch positions evenly symmetrical, a symmetrical structural design of a spoke-type six-component force sensor is achieved. The present invention significantly improves the self-decoupling capability between the components of the sensor, reduces the inter-dimensional coupling phenomenon, and thus improves the measurement accuracy of the force sensor. This structural optimization helps the force sensor to have higher reliability and accuracy in multi-dimensional applications, especially in high-precision measurement situations where multiple directional force components need to be captured simultaneously.

[0042] 2. The present invention discloses a spoke-based six-component force sensor and a patch design method thereof. The concept of "proportional arc" is introduced in the design of the spoke. The ratio of the spoke rectangle length to the spoke arc radius in the transition zone is 5:1. The sensitivity of the sensor is enhanced by optimizing the transition zone design, while effectively suppressing the damage to the elastomer caused by overload, lateral stress and eccentric load. This design effectively increases the sensitivity of the sensor and significantly improves its impact resistance and stability. It can show stronger durability in high-impact environments, while reducing the impact of external stress on sensor performance, ensuring long-term stable measurement performance.

[0043] 3. Due to the structural limitations and patch arrangement of traditional spoke-type force sensors, most of them are designed as single-component force sensors, and designs that can achieve six-component measurement are relatively rare. The reason for the above results is that the patch arrangement in the traditional design usually cannot effectively capture the force components in all six directions, resulting in its limited measurement capability. The present invention discloses a spoke-type six-component force sensor and its patch design method, in which strain patches are evenly distributed at intervals on the upper surface, lower surface and side of the spoke, and the patch part has a higher stress (strain) level. The strain patch can measure the most sensitive part of the application to ensure the uniformity and accuracy of force and torque measurement in all directions; in addition, each spoke upper surface and lower surface are respectively provided with several groups of strain patches, and the spacing between each group of patches is evenly distributed. Compared with traditional sensors, the spoke-type six-component force sensor has a larger patch space and higher sensitivity. The present invention can achieve effective control of the sensor size and save costs.

[0044] 4. The present invention discloses a spoke-type six-component force sensor and a patch design method thereof, which optimizes the patch arrangement to ensure that each spoke has multiple strain patches on the upper and lower surfaces, and effectively reduces material waste while ensuring sensitivity. The optimization can not only improve the performance of the sensor, but also save materials and costs by accurately controlling the arrangement of the patches, and has significant economic advantages. Compared with traditional sensors, the design of the present invention can control production costs while improving performance, which helps to reduce costs in practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A top view of the structure of a spoke-type six-component force sensor according to the present invention;

[0046] Figure 2 It is a bottom-up structural diagram of a spoke-type six-component force sensor according to the present invention;

[0047] Among them: 10—wheel hub, 11—wheel hub, 13—through hole, 20—spoke, 21—curved transition, 30—wheel hoop, 41—patch form one, 42—patch form two, 43—patch form three, 44—patch form four, 45—patch form five, 46—patch form six, 47—patch form seven, 48—patch form eight. DETAILED DESCRIPTION

[0048] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0049] Among them, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0052] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0053] Embodiment 1:

[0054] like Figure 1 , 2As shown, the present embodiment discloses a spoke-based six-component force sensor, including a hub 11, a spoke 20, a hoop 30 and a strain patch. The hub 11 is a cylindrical structure, and four symmetrically distributed through holes 13 are arranged on the top surface, and the setting direction is perpendicular to the radius direction of the hoop, which is used to fix the spoke-based six-component force sensor. The spoke 20 is a rectangular structure with an arc, and the four spokes 20 are evenly arranged on the facade of the hub 10. One side of the spoke of the structure is connected to the inner side of the hoop through the arc transition 20, and the other side of the spoke is connected to the hub, and the arc transition 21 is also used, so that the spoke can effectively distribute the load. The hoop 30 is an annular structure, and the hoop 30 is fixedly connected to the end of the spoke 20 away from the hub 11. Four through holes 31 are opened on the bottom surface of the hoop, and the setting direction of the through holes is perpendicular to the radius direction of the hoop to ensure that the sensor can be firmly installed and accurately measure the force. Different strain patch types 41, 42, 43, 44, 45, 46, 47, 48 are fixedly connected to the spoke 20, and the strain patches are located on the upper surface, the lower surface and both side surfaces of the spoke cross beam.

[0055] In this embodiment, the symmetrical structure of the spoke-type six-component force sensor is realized by evenly distributing four spokes 20 on a plane, using a patch layout combining vertical and parallel planes, and keeping the positions of patches 41, 42, 43, 44, 45, 46, 47, and 48 evenly symmetrical. The symmetrical structure is conducive to good self-decoupling ability between the components, reducing inter-dimensional coupling, and improving the measurement accuracy of the sensor. In the structural design, the "equal-ratio arc" is introduced to the spoke 20, and the ratio of the spoke rectangular length in the transition zone to the spoke arc radius is 5:1, which can effectively increase the sensitivity of the sensor while suppressing the damage to the sensor elastic body caused by overload, lateral stress, and eccentric load, and significantly increase the stability and impact resistance of the sensor. Four cut surfaces 33 are provided on the hoop 30 to form a complete cut structure to enhance its stability. Correspondingly, the hub is also provided with four cut surfaces 12, which are incomplete cuts, and their depth is one-sixth of the total height of the hub, so that it has a higher sensitivity, realizes effective control of the sensor size, and saves costs.

[0056] Due to the structural limitations of the spoke force sensor itself, the patch arrangement in the traditional design usually cannot effectively capture the force / torque components in all six directions, resulting in limited measurement capabilities. However, the present application optimizes the structure to make the patch part have a higher stress (strain) level, and the strain patch can measure the most sensitive part of the present application.

[0057] In one specific embodiment, although six-component measurement involves complexity and decoupling issues, and usually requires increasing the number of spokes to reduce the degree of coupling, under the condition of limited plane space, this embodiment selects four symmetrically distributed spokes 20. Although the number of spokes is not increased, the same volume of the spoke-type single-component force sensor can still be achieved, and the cost can be saved while maintaining the measurement accuracy and performance.

[0058] In one specific embodiment, the design of the four spokes 20 introduces a "proportional arc" so that the ratio of the transition zone is 5:1. The ratio of the spoke rectangular length design in the transition zone to the spoke arc radius design is 5:1. This design helps to smoothly transition stress changes and improve the overall force bearing capacity. This design not only optimizes the accuracy of the sensor, but also effectively copes with the space limitations in practical applications, significantly improves the sensitivity of the sensor, and can suppress the damage to the elastomer caused by overload, lateral stress and eccentric load, thereby significantly enhancing the stability and impact resistance of the sensor.

[0059] In one of the specific embodiments, according to the structural characteristics of the spoke-type force sensor, four spokes 20 are evenly distributed on a plane. A patch layout combining vertical and parallel planes is adopted, and the positions of the patches 41-48 are ensured to be evenly symmetrical, thereby realizing the symmetrical structure of the spoke-type six-component force sensor. This design not only meets the requirements of six-component measurement, but also significantly improves the measurement accuracy. Through precise symmetrical layout and optimized patch configuration, this embodiment can effectively balance the sensitivity and stability of the sensor, ensuring high measurement accuracy and reliability in practical applications.

[0060] In one specific embodiment, the six components measured by the spoke-type six-component force sensor can be briefly divided into six different domains. The combination of the six components is actually composed of 6 5 There are 36 tasks in each case. In order to verify the correctness of the data comparison of different patch methods, 6 groups are grouped into a large group. There are three groups, namely group a, group b, and group c.

[0061] F X →F Y ,F Y →F Z ,F Z →M Z ,M Z →M Y ,M Y →M X ,M X →F X ;

[0062] F X →F Z ,F Z →F Y,F Y →M X ,M X →M Y ,M Y →M Z ,M Z →F X ;

[0063] F X →M X ,M X →M Y ,M Y →M Z ,M Z →F Z ,F Z →F Y ,F Y →F X .

[0064] Combined with formula 4, the following formula 5 is derived to calculate the average accuracy mean to determine the performance of the patch method. The corresponding formula is:

[0065]

[0066] Where: n task Represents the total number of cross-domain recognition tasks. Based on this, the optimal wheel-spoke six-component force sensor patching method is introduced as follows.

[0067] like Figure 2 As shown, strain patch types 41-48 are rectangular structures, and the strain patches are respectively arranged at corresponding positions on the upper surface, lower surface and both sides of the spoke. The strain patches include: a first strain patch (measuring the FZ principal component), a second strain patch (F X 、F Y lateral component) and the third strain patch (main direction moment M Z ), the fourth strain patch (lateral moment M X , M Y ). The main component force / torque is composed of 8 strain gauges, and the side component force / torque is composed of 4 strain gauges. The six-component force measurement circuit is designed to paste the positive and negative strains of adjacent resistors. Among them, the first strain patch is 8 strain gauges to form a complete measurement circuit. The position is located near the connection between the spoke and the hoop. The strain gauge type 41 is located near the connection between the spoke and the hub. The strain gauge type 42 is located near the connection between the spoke and the hub. The strain patch 41 is symmetrically distributed on the four spokes, a total of 4, used to measure F Z The main component of the positive strain, strain patch 42 four spoke patches are symmetrically distributed, a total of 4, used to measure F Z The second strain patch is used to adjust the F X 、F Y The measurement of the lateral component, for example, FX The side component measurement is located at 4 strain gauges to form a complete measurement circuit. The strain gauge types 47 and 48 are located on the side of the spoke beam close to the hub. The strain patch 47 is symmetrically distributed on the four spokes, with a total of 2, which are used to measure F X The main component of the positive strain, strain patch 48 four spoke patches are symmetrically distributed, a total of 2, used to measure F X Negative strain of principal component. Y The design of the measurement patch for the side component can be obtained in the same way. The third strain patch is composed of 8 strain gauges to form a complete measurement circuit. The strain gauge types 44 and 45 are set on both sides of the spoke beam close to the wheel hoop. The strain patch 44 is symmetrically distributed on the four spokes, with a total of 4 patches, which are used to measure M Z Normal strain, strain patch 45 four spoke patches are symmetrically distributed, a total of 4, used to measure M Z Negative strain. The fourth strain patch is used for the lateral moment M X , M Y Measuring, for example, M X The side component is measured, and the position is 4 strain gauges to form a complete measurement circuit. The strain gauge type 43 is located in the middle of the spoke upper surface. The strain patch 43 is symmetrically distributed on the four spokes, a total of 4, used to measure F X The principal component positive strain and negative strain F Y The patch design method of this embodiment can realize the measurement of six components, and is conducive to good self-decoupling ability between components, reducing inter-dimensional coupling and improving the measurement accuracy of the sensor.

[0068] In one specific embodiment, the wheel hoop 30 is a circular ring structure, and the wheel hoop 30 is coaxially arranged with the wheel hub 11 .

[0069] In one specific embodiment, four through holes 13 of the same size are opened on the top surface of the hub 11, and the length direction is arranged along the radial direction perpendicular to the hub, so that the connecting threads of the spoke-type six-component sensor adapter plate and the pad correspond thereto to ensure the stable installation of the sensor.

[0070] In one specific embodiment, four through holes 31 of the same size are provided on the bottom surface of the wheel rim, and the through holes are arranged perpendicular to the radius of the wheel rim, and are used to fix the spoke-type six-component force sensor below. This ensures that the sensor can be firmly installed and accurately measure the force. It is also suitable for installing the support assembly, which can reduce the requirements of the embodiment on the flatness of the installation base surface, and is also convenient for installation and fixing.

[0071] In one specific embodiment, the wheel rim 30 is provided with four cut surfaces to form a complete cut structure 33 to enhance its stability. Correspondingly, the wheel hub 11 is also provided with four cut surfaces, which are incomplete cut surfaces 12, and their depth is one sixth of the total height of the wheel hub. The cut surface design of this embodiment helps to reduce the weight of the wheel hub while maintaining the necessary structural strength, and makes the connection between the wheel rim and the wheel hub tighter and more stable, and convenient for placement.

[0072] In one specific embodiment, the wheel hoop 30 is provided with a square boundary and an inner circular through hole 32, which is located in the middle space between the two spokes. The through hole is used for line connection and cable fixing, and is connected to the measurement circuit of the sensor. According to finite element simulation analysis, the position of the through hole will not affect the overall force of the spoke-type six-component force sensor. The through hole design can also effectively concentrate the stress in the strain area, thereby improving the measurement stability of the sensor.

[0073] In one specific embodiment, 34 annular tangential structures are arranged on the front side of the wheel rim 30, and 35 annular tangential structures are arranged on the back side. These tangential structures help to more firmly fix the spokes and the wheel rim, and optimize the stress transition to the wheel rim, thereby reducing the impact on the non-strained area and improving the stability of the overall structure and the measurement accuracy.

[0074] The specific description above further illustrates the purpose, technical solutions and beneficial effects of the invention in detail. It should be understood that the above is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A spoke-type six-component force sensor, characterized in that: Includes hub, spokes, rims and strain patches; The wheel hub is a cylindrical structure, the top surface of the wheel hub is provided with four through holes of the same size, and the bottom surface of the wheel hoop is provided with four through holes of the same size, which are symmetrically distributed; The wheel spokes are rectangular parallelepiped with curvature, the curvature of the wheel spokes connected to the wheel hub is consistent with the curvature of the wheel hoop connected to the wheel spokes, and the four wheel spokes are evenly arranged on the outer facade of the wheel hub; The strain patch is fixedly connected to the spoke, and the strain patch is located on the upper surface, lower surface and side surface of the spoke; The wheel hoop is an annular structure, and is fixedly connected to one end of the wheel spoke away from the wheel hub.

2. A spoke-type six-component force sensor according to claim 1, characterized in that: The strain patch is a rectangular structure, and the strain patch is respectively arranged at the corresponding positions of the upper surface and the lower surface of the spoke. Each sensor has 8 strain gauges attached to each crossbeam of the spoke, with a total of 32 strain gauges, forming 6 bridges, with a total of 6 output signals. The measurement circuits all use DC symmetrical full-bridge measurement circuits, and the bridge supply voltage is 10V; The strain patches all use 5 mm and 3 mm sensitive grids, and the dimensions of the sensitive grids are 5.0×2.9 mm and 3.2×3.1 mm in length×width.

3. A spoke-type six-component force sensor according to claim 1, characterized in that: The strain patches are evenly arranged at intervals on the upper surface, the lower surface and the side surface of the spoke to ensure the uniformity and accuracy of the force and torque measurement of the sensor in all directions.

4. A spoke-type six-component force sensor according to claim 3, characterized in that: The wheel hub and the wheel rim are provided with four sections which are symmetrically distributed.

5. A spoke-type six-component force sensor according to claim 3, characterized in that: The wheel hoop is provided with a through hole with a square border and an inner circle, and the through hole is used for line connection and cable fixing, and is connected with the measuring circuit of the sensor.

6. A spoke-type six-component force sensor according to claim 5, characterized in that: The tooling is distributed on the front side of the hub when viewed from above, and the length direction of the four through holes is arranged along the radial direction perpendicular to the hub; it is distributed on the front side of the rim when viewed from above, and the length direction of the four through holes is arranged along the radial direction perpendicular to the rim.

7. The spoke-type six-component force sensor according to claim 1, characterized in that: The spoke is a cuboid with an arc, and the cross-sectional shape of the spoke is optimized to be a rectangle, which is the main strain gauge area and is flat.

8. A patch design method based on a spoke-type six-component force sensor, used for a spoke-type six-component force sensor as claimed in claim 1, 2, 3, 4, 5, or 7, characterized in that: The steps include: S1: Construct the wheel hub and wheel hoop end surface load form of the spoke type six-component force sensor; The wheel hoop is a circular ring structure, and the wheel hoop is coaxially arranged with the wheel hub; In mechanical analysis, the wheel hub is directly subjected to force and deforms; the outer radius of the wheel hub R: Where r is the inner radius of the hub and σ is the stress. According to the mechanical strength analysis, when the load is doubled, the bearing form of the hub and the hoop end faces is designed to meet the six component deformation limit values. S2: Construct the spoke structure of the spoke type six-component force sensor; The spoke of the spoke-type elastic body is equivalent to a beam. Based on the bending strength of the beam, the maximum bending stress of the spoke is: When the spoke-type sensor applies a load p, the ratio of the spoke length to height is limited by the bending strength; by introducing a transition zone, in the structural design, a "uniform arc" is introduced to the spoke, and the change in the spoke cross-sectional area bh will affect the strain distribution; S3: Construct the transition form between the spoke, hoop and hub of the spoke-type six-component force sensor; The transition form between the spoke and the hub is that the connection has a first transition fillet to optimize stress distribution and reduce local stress concentration; The transition form between the wheel spoke and the wheel hoop is that the connection has a second transition fillet to further optimize the stress distribution; S4: according to the coupling situation of the spoke-type six-component force sensor, determine the patch method for the spoke-type six-component force sensor; A=BX (3) A is an n×6-dimensional array composed of standard loads, and B is composed of the output signals of the spoke-type six-component force sensor. According to formula (3), the three force components F of the spoke-type six-component force sensor are determined X , F Y , F Z and three torque components M X , M Y , M Z Decoupled form; According to formula (4), the average accuracy evaluation algorithm is used to calculate the average accuracy of the patch method: Where: N, I represent the total number of samples and the index function respectively; According to formula (4), the performance of different patch methods is determined by calculating the average accuracy, and the patch method with the largest average accuracy is selected as the optimal patch design result. According to the optimal patch design result, the best decoupling effect of the six components can be obtained to the greatest extent, thereby improving the measurement accuracy of the sensor.

9. A patch design method based on a spoke-type six-component force sensor according to claim 8, characterized in that: The ratio of the spoke rectangle length to the spoke arc radius in the optimal transition zone is determined to be 5:1, which can increase the sensitivity of the sensor while suppressing the damage to the sensor elastomer caused by overload, lateral stress and eccentric load, and significantly increase the stability and impact resistance of the sensor.

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