Multidimensional force measuring platform elastomer

Abstract

The invention provides a multi-dimensional force measuring platform elastomer, which comprises an inner support, a plurality of independently arranged outer supports, a circumferential connecting beam surrounding the inner support, and a radial connecting beam connected with the circumferential connecting beam and the outer supports or the inner support. The circumferential connecting beam is provided with a vertical first through hole, the radial connecting beam is provided with a vertical second through hole, and the radial connecting beam is further provided with an I-shaped beam structure or a transverse third through hole. The multiple sets of strain measuring elements are strategically arranged at different positions of the radial connecting beam, and measurement of force or torque of all dimensions can be achieved. Through innovative structural decoupling design and refined strain gauge arrangement, on the premise that rigidity is guaranteed, static force measurement precision and sensitivity are remarkably improved, theoretical decoupling is achieved, materials are reduced, and machinability is optimized.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and in particular to an elastomer for a multidimensional force measurement platform. Background Technology

[0002] Multidimensional force measurement platforms have applications in many fields. For example, balance testing instruments are a rapidly developing quantitative method for assessing balance function internationally in recent years, and they have received considerable attention in the medical field. Based on their sensing elements, they are mainly divided into strain gauge and piezoelectric types. Piezoelectric balance testing instruments, while exhibiting good dynamic performance, are not suitable for measuring static forces or dynamic forces above 20kHz, are costly, and are easily affected by environmental factors such as humidity and temperature, requiring strict environmental conditions. Strain gauge multidimensional force measurement platforms have good static performance, but their complex structure makes them difficult to manufacture, hindering modular production and patching, and they have a low natural frequency. Currently, there are no structurally decomposable elastomers in multidimensional force measurement platforms, making it difficult to meet the requirements of modular manufacturing and high precision. Furthermore, the settings of the sensing elements are not suitable for mass production. Summary of the Invention

[0003] This invention provides an elastomer for a multi-dimensional force measurement platform, which can achieve higher dynamic performance while ensuring static characteristics, and theoretically achieve decoupling of forces and torques in each dimension, while meeting the requirements for mass production.

[0004] The multidimensional force measurement platform elastomer provided by this invention includes:

[0005] An inner support, the center point of which is configured as the origin of the coordinate system; The outer supports are arranged at intervals around the origin of the coordinate system, and each outer support is set independently of the others. A circumferential connecting beam, wherein the two ends of a plurality of the circumferential connecting beams are connected to the outer support or the inner support, and the circumferential connecting beams are arranged around the coordinate origin; A radial connecting beam, one end of which forms a T-shaped connection structure with the inner wall of the circumferential connecting beam, and the other end of which forms a T-shaped connection structure with the inner support; or one end of the radial connecting beam forms a T-shaped connection structure with the outer support, and the other end forms a T-shaped connection structure with the outer wall of the circumferential connecting beam.

[0006] In one embodiment of the present invention, the inner support includes a plurality of inner support modules, which are arranged at intervals around the origin of the coordinate system, and each inner support module is set independently of the others.

[0007] In one embodiment of the present invention, each of the circumferential connecting beams is provided with at least one pair of first through holes extending along its height direction.

[0008] In one embodiment of the present invention, each of the radial connecting beams is provided with at least one second through hole extending through its height direction.

[0009] In one embodiment of the present invention, an I-beam structure is formed on the radial connecting beam. The I-beam structure includes an upper flange and a lower flange that are parallel to each other, and a web connecting the upper flange and the lower flange. The I-beam structure is symmetrically arranged about the central radial plane and the central height plane of the radial connecting beam.

[0010] In one embodiment of the present invention, the radial connecting beam is provided with a third through hole extending along its width direction, and the third through hole is symmetrically arranged about the center height plane of the radial connecting beam.

[0011] In one embodiment of the present invention, a first strain measuring element and / or a second strain measuring element are provided on both sides of the circumferential connecting beam along its width direction or on both sides of the radial connecting beam along its width direction for measuring radial force component strain. The first strain measuring element and / or the second strain measuring element are attached to both sides of the first through hole or the second through hole.

[0012] In one embodiment of the present invention, a third strain measuring element is provided on the radial connecting beam for measuring the strain of the axial force component; An I-beam structure is formed on the radial connecting beam. The third strain measuring element is attached to the side of the web of the I-beam structure and forms a 45° angle with the neutral axis of the I-beam structure. Alternatively, a third through hole is provided on the radial connecting beam, extending along its width direction, and the third strain measuring element is attached to both sides of the third through hole along the height direction of the radial connecting beam.

[0013] In one embodiment of the present invention, a fourth strain measuring element and / or a fifth strain measuring element are provided on both sides of the radial connecting beam along its height direction for measuring the bending moment component strain; An I-beam structure is formed on the radial connecting beam. The fourth strain measuring element and / or the fifth strain measuring element are attached to the center line of the upper surface of the upper flange and the lower surface of the lower flange of the I-beam structure. Alternatively, a third through hole is provided on the radial connecting beam, extending along its width direction, and the fourth strain measuring element and / or the fifth strain measuring element are attached to both sides of the third through hole along the height direction of the radial connecting beam.

[0014] In one embodiment of the present invention, a sixth strain measuring element is provided on both sides of the radial connecting beam along its width direction, and the sixth strain measuring element is attached to both sides of the second through hole.

[0015] The beneficial effects of the present invention are as follows: The multi-dimensional force measurement platform elastomer proposed in this invention achieves modular design through independently set external supports, internal supports, and circumferential and radial connecting beams connecting the external and internal supports. The modular design can meet the requirements of mass production and high-precision manufacturing, resulting in higher production efficiency and lower production costs. At the same time, the sensitive elements are easy to set on the elastomer, which can meet the processes and methods that traditional structures cannot adapt to. The through-hole structure of the circumferential connecting beam and the radial connecting beam connected to the T-shaped circumferential connecting beam, combined with the symmetrical distribution of the elastic body, theoretically achieve the decoupling of six-dimensional force and moment. By setting through holes and I-beam structures on the circumferential and radial connecting beams, and by generating significant stress concentration areas in specific stress directions, the local sensitivity of the elastic body is significantly improved while ensuring overall stiffness. This enables more accurate capture of minute strain signals, laying the foundation for high-precision measurement. By combining the arrangement of refined strain measurement elements, including their placement on different sides and at different positions, and utilizing the principle of stress concentration and the independent strain modes generated by each component in a specific region, precise decoupled measurement of force and torque in all dimensions is achieved, significantly improving the accuracy of static force measurement and anti-interference capability. The I-beam design allows the patches of Mx, My, and Fz to be independent of each other, and the length of the radial connecting beam can be shorter, which increases the natural frequency of the elastomer. Furthermore, when the web of the I-beam is subjected to axial force, its strain change is small and its distribution range is wide, which is beneficial for setting up sensitive elements. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] In the attached diagram: Figure 1 This is a schematic diagram of the structure of the elastic body of the multidimensional force measurement platform provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a multi-dimensional force measurement platform provided in one embodiment of the present invention; Figure 3 This is a top view of the elastic body of the multidimensional force measurement platform provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the elastic body of the multidimensional force measurement platform provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the elastic body of the multidimensional force measurement platform provided in one embodiment of the present invention; Figure 6 This is a schematic diagram of a partial module of the elastic body of the multidimensional force measurement platform provided in one embodiment of the present invention; Figure 7 This is a partial top view of the elastic body of the multidimensional force measurement platform provided in one embodiment of the present invention; Figure 8 This is a partial module schematic diagram of the elastic body of the multidimensional force measurement platform provided in another embodiment of the present invention; Figure 9 This is a partial top view of the elastic body of the multidimensional force measurement platform provided in another embodiment of the present invention; Figure 10 This is a cross-sectional view of the I-beam structure of the elastic body of the multidimensional force measurement platform provided in one embodiment of the present invention; Figure 11 This is a schematic diagram of the connection structure between the elastomer and the first mounting plate of the multidimensional force measurement platform provided in one embodiment of the present invention; Figure 12 This is a schematic diagram of the connection structure between the elastomer and the second mounting plate of the multidimensional force measurement platform provided in one embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of the first mounting plate provided in one embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of the second mounting plate provided in another embodiment of the present invention.

[0018] The attached figures are labeled as follows: 100. Internal support; 200. Circumferential connecting beam; 300. Radial connecting beam; 400. External support; 500. First mounting plate; 600. Second mounting plate; 210, First through hole; 310, Second through hole; 320, I-beam structure; 330, Third through hole; 321, Upper flange; 322, Lower flange; 323, Web. Detailed Implementation

[0019] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0020] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0021] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0022] Traditional force measurement platforms, especially systems based on piezoelectric sensors, suffer from insufficient accuracy in measuring static forces and are susceptible to environmental temperature and humidity fluctuations. Furthermore, the commonly used tetrahedral structure exhibits significant interdimensional coupling problems; applying force or torque in one direction can cause interference output in other directions, severely impacting measurement accuracy. Decoupling and sensitivity still need improvement. Most elastomers are monolithic structures, making manufacturing difficult, costly, and inconvenient for disassembly and maintenance, hindering modular mass production. The bonding sites for sensitive elements (strain gauges) are located on complex, irregularly shaped surfaces, requiring extremely high precision in the bonding process and making consistency difficult to guarantee. These factors result in low production efficiency, high manufacturing costs, and poor performance consistency for traditional sensors.

[0023] Please see Figures 1 to 14This invention proposes an elastomer for a multidimensional force measurement platform. The elastomer includes an inner support 100, a circumferential connecting beam 200, a radial connecting beam 300, and an outer support 400. Strain measuring elements are installed in specific areas according to the elastomer's structural design to achieve actual force or torque measurement. These strain measuring elements can be, for example, resistance strain gauges. Specifically, a coordinate system is established with the geometric center of the inner support 100 as the origin. Several outer supports 400 are arranged at intervals around the origin, and each outer support 400 is independently configured. The inner support 100 serves as a fixed part (i.e., a fixed end), and the outer supports 400 serve as a load-bearing part (i.e., a loading end), or the outer supports 400 serve as a fixed part and the inner support 100 as a load-bearing part. The load-bearing part is used to bear external loads. Force or torque is applied through the load-bearing part and transmitted to the fixed part via the deformation of the elastomer. The load-bearing part is connected to the fixed part through a measurement module, which enables measurement. A measurement module is formed by circumferential connecting beams 200 and radial connecting beams 300. The opposite ends of several circumferential connecting beams 200 are connected to either an inner support 100 or an outer support 400, and the circumferential connecting beams 200 are arranged around the coordinate origin. One end of a radial connecting beam 300 forms a T-shaped connection with the inner wall of the circumferential connecting beam 200, and the other end forms a T-shaped connection with the inner support 100; alternatively, one end of the radial connecting beam 300 forms a T-shaped connection with the outer support 400, and the other end forms a T-shaped connection with the outer wall of the circumferential connecting beam 200. The outer support 400, circumferential connecting beams 200, and radial connecting beams 300 are symmetrically distributed along the central axis.

[0024] Please see Figures 1 to 14It should be noted that the multidimensional force measurement platform typically includes a first mounting plate 500, a second mounting plate 600, and an elastomer disposed between the two. The first mounting plate 500 and the second mounting plate 600 are used to connect the elastomer to an external structure. In specific assembly, one mounting plate serves as the load application surface and connects to the load-bearing part, while the other mounting plate serves as the fixing base and connects to the fixing part. The core of this invention lies in providing a high-performance elastomer with a decomposable structure that is easy to modularly manufacture. This elastomer can improve the accuracy of static force measurement, optimize manufacturability, and achieve theoretical decoupling while ensuring high stiffness. Specifically, the elastomer structure of this invention significantly reduces material usage by setting the external support 400 as independent units rather than a ring structure. It also facilitates disassembly and maintenance, simplifies the processing technology, and reduces production costs. The circumferential connecting beam 200 and the inner support 100 are connected to form a polygonal structure. The radial connecting beam 300 is T-shaped and connected between the circumferential connecting beam 200 and the outer support 400. Through the symmetrical and layered structural layout, the six-dimensional force applied to the platform can be effectively transmitted and dispersed through the radial connecting beam 300 and the circumferential connecting beam 200, which creates conditions for stress concentration and strain measurement at specific locations, thereby improving the sensitivity of the sensor while ensuring the overall rigidity.

[0025] Please see Figures 1 to 3 , Figures 7 to 9 In one embodiment of the present invention, the inner support 100 includes several inner support modules arranged at intervals around the origin of the coordinate system, and each inner support module is independently configured. This modular design facilitates mass production. Specifically, each inner support 100 and the outer support 400 are independently configured, and the elastomer structure is designed as multiple independent unit modules, realizing the physical decomposition of the structure. This allows the elastomer to be divided into multiple independent "inner support 100 - circumferential connecting beam 200 - radial connecting beam 300 - outer support 400" modules, thereby greatly simplifying the clamping difficulty during CNC machining, allowing the use of smaller blanks, significantly reducing the material removal rate, and improving processing efficiency and material utilization. More importantly, this modular design facilitates standardization and mass production, allowing different components to be processed separately and then assembled, reducing the overall manufacturing threshold and cost.

[0026] Please see Figures 4 to 5In another embodiment of the present invention, the inner support 100 serves as the input end of the multidimensional force measurement platform, and forces or torques can be applied to the upper and lower surfaces of the inner support 100. The inner support 100 can also be designed as a rigid, integrally formed platform structure to ensure that the applied forces or torques are accurately transmitted to other components of the elastic body without causing excessive deformation in the inner support 100 itself, and are uniformly transmitted to the circumferential connecting beam 200 connected to it. The geometric center of the inner support 100 is defined as the coordinate origin of the entire sensor, thereby establishing a unified reference for describing forces and torques in all directions, facilitating force decomposition and measurement. The design of its horizontal upper and lower surfaces ensures the stability of the applied load, which is the basis for the high-precision measurement of the entire sensor. It is understood that in other embodiments, the inner support 100 can also serve as a fixed part, in which case the outer support 400 serves as a load-bearing part (i.e., the input end), and forces or torques can be applied to it.

[0027] Please see Figures 1 to 12 It should be noted that, for ease of force or torque analysis and measurement, a three-dimensional Cartesian coordinate system is established with the geometric center of the inner support 100 as the origin. The axis perpendicular to the horizontal plane of the inner support 100 is defined as the Z-axis, representing the direction of the axial force component Fz and the torque component Mz about the Z-axis. Within the horizontal plane of the inner support 100, two mutually perpendicular axes are defined as the X-axis and Y-axis, representing the radial force components Fx and Fy, and the directions of the bending moment component Mx about the X-axis and the bending moment component My about the Y-axis. By concentrating the force or torque onto the inner support 100 or the outer support 400, the subsequent stress response of each part of the elastic body can be ensured to have good predictability and symmetry, laying the foundation for accurate measurement and theoretical decoupling.

[0028] Please see Figures 1 to 9In one embodiment of the present invention, the number of radial connecting beams 300, circumferential connecting beams 200, and outer supports 400 are all equal, and the inner supports 100 are designed to be compatible with this, also including the same number of inner support modules, for example, one, four, or eight, but not limited to these. The structures of the inner supports 100 and outer supports 400 can be adaptively designed according to different numbers and layouts. In a three-dimensional coordinate system, these components are symmetrically distributed and remain horizontal, and are parallel or perpendicular to the coordinate axes. For example, when the number is four, the radial connecting beams 300 can be distributed in a cross shape, symmetrically arranged along the X-axis and Y-axis directions, respectively. Symmetrical distribution helps to ensure that the elastic body has a uniform mechanical response in all directions, thereby simplifying mechanical analysis and decoupling algorithms. When a purely unidirectional force or torque is applied, only the strain measuring elements in a specific direction or position will respond, while the strain measuring elements in other directions are almost unaffected, thus theoretically achieving structural decoupling. The horizontal component layout simplifies the manufacturing and assembly process and also gives the elastomer balanced stiffness characteristics in all directions, which helps to improve the stability and accuracy of the overall measurement.

[0029] Please see Figures 1 to 12 In one embodiment of the present invention, the outer support 400 can serve as either the input end or the fixed end of the multidimensional force measurement platform. Several outer supports 400 are arranged at intervals around the coordinate origin and are independently configured, meaning they are not connected to each other and have no outer ring. This "discrete" support design, compared to the traditional integral ring-shaped outer frame, reduces the amount of elastomer material used, lowers manufacturing costs, and significantly reduces structural complexity. This makes the elastomer easier to clamp and form during CNC machining, resulting in a lower material removal rate, simpler processing, and easier disassembly and assembly, significantly improving production efficiency and maintenance convenience. When the outer support 400 serves as the fixed end, it transmits the force or torque on the inner support 100 to the outside through the circumferential connecting beam 200 and the radial connecting beam 300, and serves as a reference point for strain measurement.

[0030] Please see Figures 1 to 9In one embodiment of the present invention, each circumferential connecting beam 200 is provided with at least a pair of first through holes 210 extending along its height direction (i.e., the Z-axis direction). The first through holes 210 are symmetrically arranged about the central radial plane (i.e., the XZ plane or YZ plane) of the circumferential connecting beam 200 and the centerline (i.e., the axis parallel to the XZ plane or YZ plane and passing through the center of the circumferential connecting beam 200) of the width direction of the circumferential connecting beam 200. The two ends of the circumferential connecting beam 200 are connected to the inner support 100 and form a "T"-shaped connection structure with the radial connecting beam 300, which surrounds the inner support 100 in a U-shape. The circumferential connecting beam 200 is used to connect the inner support 100 and the radial connecting beam 300, and provides a certain stiffness and deformation when transmitting loads. The arrangement of the first through holes 210, while ensuring the overall stiffness of the circumferential connecting beam 200, improves the local sensitivity of the elastic body through the stress concentration effect. When a force or torque is applied to the inner support 100, the circumferential connecting beam 200 deforms, and stress concentrates in the area near the first through hole 210. Arranging strain measurement elements in these stress concentration areas can significantly improve the local sensitivity of the elastic body while ensuring the overall stiffness of the circumferential connecting beam 200, thereby more accurately capturing minute strain signals and laying the foundation for high-precision measurement. It is understood that the circumferential connecting beam 200 serves as both a force transmission path and a strain measurement area. In other embodiments, the first through hole 210 can be one or more pairs, and its shape can be circular, elliptical, or waist-shaped, or it can be a vertical double through hole formed by two parallel cylindrical through holes connected to each other in a vertical plane, to adapt to different stress concentration and sensitivity requirements.

[0031] Please see Figures 1 to 9In one embodiment of the present invention, each radial connecting beam 300 is provided with at least one second through hole 310 extending along its height direction (i.e., the Z-axis direction). The second through holes 310 are symmetrically arranged about the central radial plane of the radial connecting beam 300. When the second through hole 310 is elliptical or oblong, its length direction is consistent with the width direction of the radial connecting beam 300. The radial connecting beam 300 is a key component in the elastic body that bears and transmits radial loads, and its deformation directly reflects the force and moment applied to the inner support 100. The provision of the second through hole 310 further optimizes the stress distribution of the radial connecting beam 300, causing it to produce a significant stress concentration effect in a specific force direction, thereby improving its sensitivity to radial force and torque components while ensuring the stiffness of the radial connecting beam 300. The length direction of the second through hole 310 is consistent with the width direction of the radial connecting beam 300, so that the volume change of the through hole has a smaller impact on the length and width of the radial connecting beam 300, providing greater flexibility and convenience for subsequent structural optimization and parameter adjustment, and helping to achieve optimal performance more easily during the design stage. In other embodiments, the number of second through holes 310 may be one or more, and their shape may be circular, elliptical or waist-shaped, or vertical double through holes formed by two cylindrical through holes arranged side by side in a vertical plane, etc., to optimize stress concentration effect and measurement sensitivity.

[0032] Please see Figures 1 to 5 In one specific embodiment, the two ends of the circumferential connecting beam 200 are connected to the inner support 100, and the radial connecting beam 300 is disposed between the circumferential connecting beam 200 and the outer support 400, with one end connected to the outer sidewall of the circumferential connecting beam 200 in a T-shape and the other end connected to the outer support 400. In another embodiment, the two ends of the circumferential connecting beam 200 may also be connected to the outer support 400, and the radial connecting beam 300 is disposed between the circumferential connecting beam 200 and the inner support 100, with one end connected to the inner sidewall of the circumferential connecting beam 200 in a T-shape and the other end connected to the inner support 100.

[0033] Please see Figures 1 to 4 , Figures 6 to 10In one embodiment of the present invention, the radial connecting beam 300 includes a straight beam segment and an I-beam segment. A second through hole 310 is disposed in the straight beam segment. An I-beam structure 320 is also formed on the radial connecting beam 300. The I-beam structure 320 includes a mutually parallel upper flange 321 and a lower flange 322, and a web 323 connecting the upper flange 321 and the lower flange 322. The web 323 extends along the height direction (Z-axis direction) of the radial connecting beam 300. The I-beam structure 320 is symmetrically arranged about the central radial plane and the central height plane (i.e., a plane parallel to the XY plane and passing through the center of the radial connecting beam 300) of the radial connecting beam 300. As a classic mechanical structure, the I-beam structure 320 has high bending stiffness and shear stiffness, and can effectively concentrate stress on the web 323 and the flanges. An I-beam structure 320 is introduced onto the radial connecting beam 300. Through its unique cross-sectional shape, the bending stiffness of the radial connecting beam 300 in the vertical direction is significantly increased. This effectively improves the overall stiffness of the sensor while maintaining the overall structural compactness, ensuring that the sensor can maintain stable response characteristics under rapidly changing forces or moments. At the same time, the web 323 and flange of the I-beam will generate different stress distributions when under stress, providing a physical basis for the accurate measurement of different force / moment components. Through its I-beam structure 320, the stress can be naturally decomposed. The web 323 mainly bears shear stress, and the flange mainly bears normal stress. This provides a physical basis for spatially separating and independently measuring Fz (related to shear) and Mx / My (related to bending normal stress). The strain gauges of Mx, My and Fz are independent of each other. The length of the radial connecting beam 300 can be shorter, which increases the natural frequency of the elastic body and improves the dynamic response characteristics. Furthermore, when the web 323 is subjected to axial force, its strain change is small and its distribution range is wide, which is beneficial for the placement of sensing elements. It is understandable that the dimensions of the I-beam, the thickness of the flanges and the web 323, and other parameters can be optimized according to the specific measurement range and accuracy requirements to achieve the best mechanical performance and sensing effect.

[0034] Please see Figure 5In another embodiment of the present invention, the radial connecting beam 300 comprises only a straight beam segment, on which a pair of third through holes 330 extending along its width direction are provided, and the two third through holes 330 are symmetrically arranged about the center height plane of the radial connecting beam 300. The use of the horizontal third through holes 330 also allows the radial connecting beam 300 to achieve higher sensitivity while maintaining its overall stiffness. When the radial connecting beam 300 is subjected to an axial force component Fz or a bending moment component (such as Mx or My), the stress will concentrate on the upper and lower surfaces of the third through holes 330, thereby generating a significant strain signal. This stress concentration effect allows the sensor to more effectively capture minute deformations, further improving measurement accuracy. The symmetrically arranged through holes help maintain the mechanical balance of the radial connecting beam 300 and reduce unnecessary coupling effects. It should be noted that the I-beam structure 320 or the third through holes 330 can be selected on the radial connecting beam 300 according to factors such as processing technology, material properties, and cost, flexibly adapting to different design requirements. In other embodiments, the third through hole 330 may be circular, elliptical, or waist-shaped, or may be a horizontal double through hole formed by two parallel cylindrical through holes in a horizontal plane, in order to optimize stress concentration.

[0035] Please see Figures 1 to 10 In one embodiment of the present invention, the I-beam structure 320 or the third through hole 330 on the radial connecting beam 300 is disposed on the side away from the circumferential connecting beam 200, and the second through hole 310 is disposed on the side close to the circumferential connecting beam 200. In a specific embodiment, both ends of the circumferential connecting beam 200 are connected to the outer support 400, the I-beam structure 320 or the third through hole 330 is disposed in the region close to the inner support 100, and the second through hole 310 is disposed in the region away from the inner support 100. The region close to the inner support 100 is mainly responsible for transmitting and measuring the radial force component and the torque component, while the region away from the inner support 100 is used to measure the axial force component and the bending moment component. In another embodiment, the two ends of the circumferential connecting beam 200 are connected to the inner support 100. The I-beam structure 320 or the third through hole 330 is located in a region away from the inner support 100, and the second through hole 310 is located in a region close to the inner support 100. The region close to the inner support 100 is mainly responsible for transmitting and measuring the axial force and bending moment components, while the region away from the inner support 100 is used to measure the radial force and torque components. Although the different layout schemes have structural adjustments, their core principle is to achieve effective measurement and decoupling of different force / moment components by rationally dividing the stress concentration area on the radial connecting beam 300. The specific placement of the strain measuring element is adjusted according to different structural layouts to ensure that the strain measuring element can be attached to the region of maximum strain or specific strain direction, thereby obtaining the best measurement effect.

[0036] Please see Figures 1 to 12 In one embodiment of the present invention, a first strain measuring element and / or a second strain measuring element are provided on both sides of the circumferential connecting beam 200 along its width direction or on both sides of the radial connecting beam 300 along its width direction. The first strain measuring element and the second strain measuring element are used to measure the radial force component strains Fx and Fy, respectively. The first strain measuring element and / or the second strain measuring element are attached to both sides of the first through hole 210 or the second through hole 310.

[0037] Please see Figures 1 to 12 Specifically, the first strain measuring element is used to measure the radial force component Fx. Its corresponding strain gauge is arranged on the Y-direction circumferential connecting beam 200. On the two Y-direction circumferential connecting beams 200 located in the positive and negative X-axis directions, a first strain measuring element is attached to each of the two sides of the first through-hole 210 near the radial connecting beam 300, forming a Wheatstone full-bridge circuit for accurate measurement of Fx. When the force Fx in the X-axis direction acts on the inner support 100 or the outer support 400, the Y-direction circumferential connecting beam 200 will undergo bending deformation along the X-axis direction, and stress will concentrate on both sides of the first through-hole 210 near the radial connecting beam 300. Attaching the first strain measuring element at this location allows for precise capture of the strain caused by Fx, thereby accurately measuring the magnitude of Fx. Similarly, the second strain gauge is used to measure the radial force component Fy. Strain gauges are arranged on the circumferential connecting beam 200 in the X-direction. On the two circumferential connecting beams 200 located in the positive and negative Y-axis directions, a second strain gauge is attached to each of the two sides of the first through-hole 210 near the radial connecting beam 300, forming another Wheatstone full-bridge circuit for precise measurement of Fy. This symmetrical and cross arrangement utilizes the stress concentration effect and the symmetry of the elastic body to effectively decouple the measurement of Fx and Fy, improving measurement accuracy and anti-interference capability. Likewise, when a force Fy is applied in the Y-axis direction, the circumferential connecting beam 200 located in the Y-axis direction will undergo bending deformation along the X-axis direction, with stress concentrated on both sides of its first through-hole 210 near the radial connecting beam 300. Attaching the second strain gauge at this location allows for precise measurement of the magnitude of Fy. This method utilizes the stress concentration effect to arrange the strain gauges, improving measurement sensitivity. Due to the symmetry of the strain gauge positions, interference from other force / torque components can be eliminated, achieving better decoupling. Each Fx or Fy measurement typically requires four or eight strain gauges, forming a Wheatstone full-bridge circuit to achieve temperature compensation and improve measurement accuracy.

[0038] Please see Figures 1 to 12In another specific embodiment, the first strain measuring element and the second strain measuring element can also be disposed on both sides of the radial connecting beam 300 along its width direction, and attached to both sides of the second through hole 310. For example, they can be attached to the areas on both sides of the radial connecting beam 300 away from the circumferential connecting beam 200. The first strain measuring element and the second strain measuring element also respectively measure the radial force components Fx and Fy, and their arrangement is the same as in the above embodiment.

[0039] Please see Figure 1 and Figure 12 In one embodiment of the present invention, a third strain measuring element is provided on the radial connecting beam 300 for measuring the axial force component strain (i.e., Fz). The third strain measuring element is attached to the side of the web 323 of the I-beam structure 320 and forms a 45° angle with the neutral axis of the I-beam, or is attached to both sides of the third through hole 330 along the height direction of the radial connecting beam 300.

[0040] Please see Figures 1 to 4 , Figures 6 to 12 In a specific embodiment of the present invention, an I-beam structure 320 is formed on the radial connecting beam 300. A third strain measuring element is attached to both sides of the web 323 of the I-beam structure 320 and forms a 45° angle with the neutral axis of the I-beam structure 320. When a force Fz in the Z-axis direction acts on the inner support 100 or the outer support 400, the web 323 of the I-beam structure 320 mainly bears shear stress, and the shear stress reaches its maximum value on the neutral axis of the web 323. By precisely attaching the third strain measuring element at the neutral axis position in the height direction of the web 323, the shear strain caused by Fz can be effectively detected, thereby achieving accurate measurement of the axial force component Fz. Utilizing the mechanical properties of the I-beam, the strain gauge is highly sensitive to Fz, but less sensitive to other force / moment components, thus facilitating the decoupled measurement of Fz. Specifically, for example, two third strain gauges can be attached to each web 323, forming a 45° angle with the neutral axis of the I-beam structure 320. Strain gauges arranged at a 45° angle can effectively measure shear strain. Typically, strain gauges only need to be arranged on a pair of radially connecting beams 300 (e.g., in the X or Y direction) to measure Fz. For example, one strain gauge can be arranged on each side of the I-beam web 323 of the two radially connecting beams 300 in the positive and negative X-axis directions. By utilizing the concentration of shear stress on the neutral axis of the web 323, accurate measurement of the force in the Fz direction can be achieved, while avoiding coupling with bending stress.

[0041] Please see Figure 5In another embodiment of the present invention, when a third through hole 330 extending along its width is provided on the radial connecting beam 300, a third strain measuring element is attached to both sides of the third through hole 330 along the height direction (i.e., the Z-axis direction) of the radial connecting beam 300 to measure the axial force component strain (i.e., Fz). For example, the third strain measuring element can be attached to the side of the third through hole 330 near the inner support 100. When the Z-axis force Fz acts on the inner support 100 or the outer support 400, the radial connecting beam 300 will bend and deform at the position of the third through hole 330, and the strain will concentrate on the upper and lower surfaces of the third through hole 330. Attaching the third strain measuring element near the inner support 100 can accurately capture the strain caused by Fz, thereby accurately measuring the magnitude of Fz. For measuring Fz, typically only strain gauges need to be arranged on a pair of radial connecting beams 300. For example, on the two radial connecting beams 300 in the positive and negative X-axis directions, a strain gauge is attached to the upper and lower surfaces of their respective third through holes 330 near the inner support 100, forming a Wheatstone full-bridge circuit. By utilizing the strain concentration effect, the decoupled measurement of Fz can be achieved.

[0042] Please see Figures 1 to 12 In one embodiment of the present invention, a fourth strain measuring element and / or a fifth strain measuring element are further provided on both sides of the radial connecting beam 300 along its height direction (i.e., the Z-axis direction) for measuring the bending moment component strain Mx or My. The fourth strain measuring element and / or the fifth strain measuring element are attached to the center line position of the upper surface of the upper flange 321 and the lower surface of the lower flange 322 of the I-beam structure 320, or attached to both sides of the third through hole 330 along the height direction of the radial connecting beam 300.

[0043] Please see Figures 1 to 4 , Figures 6 to 12In a specific embodiment of the present invention, an I-beam structure 320 is formed on the radial connecting beam 300. The fourth strain measuring element and / or the fifth strain measuring element are attached at the center line position of the upper surface of the upper flange 321 and the lower surface of the lower flange 322 of the I-beam structure 320. When the torque Mx in the X-axis direction acts on the inner support 100 or the outer support 400, the radial connecting beam 300 located in the Y-axis direction will bend and deform. The upper surface of the upper flange 321 and the lower surface of the lower flange 322 of the I-beam structure 320 will bear a large normal stress. By attaching the fourth strain measuring element at this position, the strain caused by Mx can be accurately captured, thereby accurately measuring the magnitude of Mx. Similarly, when a torque My is applied in the Y-axis direction, the radial connecting beam 300 in the X-axis direction will undergo bending deformation. The upper surface of the upper flange 321 and the lower surface of the lower flange 322 of its I-beam structure 320 will also experience significant normal stress. By attaching a fifth strain gauge at this location, the magnitude of My can be accurately measured. Each measurement of Mx or My typically requires four strain gauges arranged to form a Wheatstone full-bridge circuit. Utilizing the special structure of the I-beam, the decoupled measurement of Mx and My can be effectively achieved.

[0044] Please see Figure 5 In another embodiment of the present invention, a third through hole 330 extending along the width direction is provided on the radial connecting beam 300. A fourth strain measuring element and / or a fifth strain measuring element are attached to both sides of the third through hole 330 along the height direction of the radial connecting beam 300 to measure the moment component strain (Mx or My). The element is attached to the side of the third through hole 330 away from the outer support 400. When a moment Mx in the X-axis direction acts on the inner support 100 or the outer support 400, the radial connecting beam 300 in the Y-axis direction will bend and deform, and the strain will concentrate on the upper and lower surfaces of its third through hole 330. Attaching the fourth strain measuring element here can accurately capture the strain caused by Mx, thereby accurately measuring the magnitude of Mx. Similarly, when a moment My in the Y-axis direction acts, the radial connecting beam 300 in the X-axis direction will bend and deform, and the strain will concentrate on the upper and lower surfaces of its third through hole 330. Attaching the fifth strain measuring element here can accurately measure the magnitude of My. Each Mx or My measurement typically requires four strain gauges arranged to form a Wheatstone full-bridge circuit. By differentiating the placement of the strain gauges for Fz and Mx / My near / away from the third via 330 from the outer support 400, effective decoupling of these force / moment components can be achieved through differentiated patch placement design.

[0045] Please see Figures 1 to 12In one embodiment of the present invention, a sixth strain measuring element is further provided on both sides of the radial connecting beam 300 along its width direction. The sixth strain measuring element is attached to both sides of the second through hole 310 and is used to measure the torque component Mz. For example, the sixth strain measuring element can be attached to the side of the second through hole 310 near the circumferential connecting beam 200. Specifically, a sixth strain measuring element can be attached to the side of the second through hole 310 near the circumferential connecting beam 200 of each of the two radial connecting beams 300 located in the positive X-axis direction and the negative X-axis direction, forming a Wheatstone full-bridge circuit for accurate measurement of Mz. When the torque Mz in the Z-axis direction acts on the inner support 100 or the outer support 400, the radial connecting beam 300 will undergo torsional deformation, and the stress will concentrate on both sides of its second through hole 310. The strain caused by Mz can be accurately captured by the sixth strain measuring element, thereby accurately measuring the magnitude of Mz. By employing a refined strain gauge arrangement, effective decoupling measurement of the radial force components Fx and Fy and the torque component Mz can be achieved on the same radial connecting beam 300 through different strain gauge positions, avoiding mutual interference between different force / torque components. Each Mz measurement typically requires four strain gauges, forming a Wheatstone full-bridge circuit. In other embodiments, a similar arrangement can be made on the Y-direction radial connecting beam 300, i.e., on the two radial connecting beams 300 located in the positive and negative Y-axis directions, a sixth strain measurement element is attached to both sides of the second through hole 310 near the circumferential connecting beam 200 for measuring Mz.

[0046] Please see Figures 1 to 12In one embodiment of the present invention, the independent arrangement of the inner supports 100 and the outer supports 400, along with the modular design, facilitates processing and meets the requirements of mass production and high-precision manufacturing, resulting in higher production efficiency and lower production costs. Simultaneously, the sensitive elements are easily placed on the elastic body, demonstrating good structural adaptability. The first through hole 210 on the circumferential connecting beam 200, the second through hole 310 on the radial connecting beam 300, and the I-beam structure 320 or the third through hole 330 on the radial connecting beam 300 form multi-layered, multi-directional stress concentration regions. Based on the analysis of the response characteristics of these stress concentration regions under different forces / torques, the arrangement positions of each strain measurement element are determined, enabling each force / torque component to generate independent and measurable strain signals in different regions. This theoretically achieves complete decoupling of six-dimensional force / torque, significantly improving measurement accuracy and anti-interference capability. For example, strain gauges for axial force Fz and bending moment Mx or My can be arranged at the neutral axis position and flange surface on the side of the web 323, or on the upper and lower surfaces of the third through hole 330, depending on whether the radial connecting beam 300 adopts an I-beam structure 320 or a third through hole 330 structure. When the third through hole 330 design is adopted, strain gauges for bending moment Mx or My and axial force Fz are arranged at different positions of the third through hole 330 (away from / close to the circumferential connecting beam 200), etc. This combination of fine structural design and strain gauge arrangement makes each strain measurement channel primarily sensitive to a specific force or moment component, while having extremely low sensitivity to other components. This achieves theoretical decoupling in structure, which not only improves the measurement sensitivity and accuracy of the sensor, but also greatly simplifies subsequent signal processing and decoupling algorithms, reducing the complexity of the system.

[0047] Please see Figures 1 to 12In one embodiment of the present invention, the inner support 100 serves as the loading end. When the object under test applies a force or torque to the inner support 100, the force or torque is transmitted through the inner support 100 to the circumferential connecting beam 200 and the radial connecting beam 300. Due to the unique structural design of the elastomer, including the independent outer support 400, the T-shaped circumferential connecting beam 200 and the radial connecting beam 300, and various through holes or I-beam structures 320 on the radial connecting beam 300, these forces or torques will cause stress concentration and deformation in specific areas inside the elastomer. Each strain measuring element pre-attached to these stress concentration areas will convert the material deformation into a change in resistance value. These resistance changes are converted into electrical signals through a Wheatstone full-bridge circuit, and after amplification, filtering, analog-to-digital conversion, etc., the data processing unit accurately calculates the force components (Fx, Fy, Fz) in the X, Y, and Z directions and the torque components (Mx, My, Mz) around the X, Y, and Z axes according to the preset decoupling matrix and calibration parameters. Due to the meticulous decoupling in the structural design and strain gauge arrangement of this invention, the mutual influence between the force / torque components during measurement is minimal, thus ensuring the accuracy and reliability of the measurement results. It should be noted that the input and output functions of force and torque are reciprocal. In other embodiments, the outer support 400 can be used as the loading end, and the inner support 100 can be fixed. Regardless of the installation and usage method, the stress distribution and strain field inside the elastic body are consistent, ensuring the stability of the sensor's measurement principle and decoupling performance.

[0048] In summary, the multidimensional force measurement platform elastomer of this invention, through its unique structural design, employs an independent outer support 400 and a circumferential connecting beam 200 forming a polygonal structure around the inner support 100. This modular design facilitates batch processing and high-precision manufacturing, effectively reducing costs and improving production efficiency. Furthermore, its good structural adaptability facilitates the placement and arrangement of sensitive elements. Through the symmetrical structure of the elastomer and the design of the through-holes and I-beam structures 320, the sensitivity of the multidimensional force measurement platform is significantly improved while maintaining high rigidity. Combined with the refined arrangement of strain measurement elements within a specific structural region, and utilizing the stress concentration effect, the theoretical decoupling of the six-dimensional force components in the structure is achieved. This effectively solves the problems of low accuracy in static force measurement and severe interdimensional coupling, providing a high-precision, high-sensitivity multidimensional force measurement platform elastomer with excellent decoupling performance. In addition, this elastomer uses less material, is easy to disassemble, and has good machinability, exhibiting good economic efficiency and practicality.

[0049] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

[0050] Throughout this description, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention may be practiced without one or more of these specific details or by other devices, systems, components, methods, parts, materials, components, etc. In other instances, well-known structures, materials, or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

[0051] Throughout this specification, the terms "an embodiment," "embodiment," or "specific embodiment" refer to a particular feature, structure, or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the invention can be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the invention.

[0052] It should also be understood that one or more of the elements shown in the figures may be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0053] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a capability of separation or combination that is unclear, a combination of components or steps will also be considered as indicated.

[0054] As used herein and throughout the claims below, unless otherwise specified, “a” and “the” include the plural references. Similarly, as used herein and throughout the claims below, unless otherwise specified, “in” means “in” and “on”.

[0055] The above description of the embodiments shown in this invention (including the content set forth in the abstract of the specification) is not intended to be an exhaustive enumeration or to limit the invention to the precise forms disclosed herein. Although specific embodiments and examples of the invention have been described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the invention, as will be recognized and understood by those skilled in the art. As indicated, these modifications can be made to the invention in accordance with the above description of the embodiments described herein, and such modifications will be within the spirit and scope of the invention.

[0056] This document has generally described the systems and methods in detail to aid in understanding the invention. Furthermore, various specific details have been set forth to provide a general understanding of embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention can be practiced without one or more specific details, or using other means, systems, accessories, methods, components, materials, parts, etc. In other instances, well-known structures, materials, and / or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

[0057] Therefore, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the scope of the foregoing disclosure, and it should be understood that in some cases, certain features of the invention may be adopted without departing from the scope and spirit of the invention and without corresponding use of other features. Thus, many modifications can be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terminology used in the following claims and / or the specific embodiments disclosed as the best mode for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the invention will be defined only by the appended claims.

Claims

1. An elastic body for a multidimensional force measurement platform, characterized in that, include: An inner support, the center point of which is configured as the origin of the coordinate system; The outer supports are arranged at intervals around the origin of the coordinate system, and each outer support is set independently of the others. A circumferential connecting beam, wherein the two ends of a plurality of the circumferential connecting beams are connected to the outer support or the inner support, and the circumferential connecting beams are arranged around the coordinate origin; A radial connecting beam, one end of which forms a T-shaped connection structure with the inner wall of the circumferential connecting beam, and the other end of which forms a T-shaped connection structure with the inner support; or one end of the radial connecting beam forms a T-shaped connection structure with the outer support, and the other end forms a T-shaped connection structure with the outer wall of the circumferential connecting beam.

2. The elastomer of the multidimensional force measurement platform according to claim 1, characterized in that, The inner support includes several inner support modules, which are arranged at intervals around the origin of the coordinate system, and each inner support module is set independently of the others.

3. The elastomer of the multidimensional force measurement platform according to claim 1, characterized in that, Each of the circumferential connecting beams is provided with at least one pair of first through holes extending along its height direction.

4. The elastomer of the multidimensional force measurement platform according to claim 3, characterized in that, Each of the radial connecting beams is provided with at least one second through hole extending along its height direction.

5. The elastomer of the multidimensional force measurement platform according to claim 1, characterized in that, An I-beam structure is formed on the radial connecting beam. The I-beam structure includes an upper flange and a lower flange that are parallel to each other, and a web connecting the upper flange and the lower flange. The I-beam structure is symmetrically arranged about the central radial plane and the central height plane of the radial connecting beam.

6. The elastomer of the multidimensional force measurement platform according to claim 1, characterized in that, The radial connecting beam is provided with a third through hole that extends along its width direction, and the third through hole is symmetrically arranged about the center height plane of the radial connecting beam.

7. The multidimensional force measurement platform elastomer according to claim 4, characterized in that, A first strain measuring element and / or a second strain measuring element are provided on both sides of the circumferential connecting beam along its width direction or on both sides of the radial connecting beam along its width direction for measuring radial force component strain. The first strain measuring element and / or the second strain measuring element are attached to both sides of the first through hole or the second through hole.

8. The elastomer of the multidimensional force measurement platform according to claim 1, characterized in that, A third strain measuring element is provided on the radial connecting beam for measuring the strain of the axial force component; An I-beam structure is formed on the radial connecting beam. The third strain measuring element is attached to the side of the web of the I-beam structure and forms a 45° angle with the neutral axis of the I-beam structure. Alternatively, a third through hole is provided on the radial connecting beam, extending along its width direction, and the third strain measuring element is attached to both sides of the third through hole along the height direction of the radial connecting beam.

9. The elastomer of the multidimensional force measurement platform according to claim 1, characterized in that, The radial connecting beam is provided with a fourth strain measuring element and / or a fifth strain measuring element on both sides along its height direction for measuring the bending moment component strain. An I-beam structure is formed on the radial connecting beam. The fourth strain measuring element and / or the fifth strain measuring element are attached to the center line of the upper surface of the upper flange and the lower surface of the lower flange of the I-beam structure. Alternatively, a third through hole is provided on the radial connecting beam, extending along its width direction, and the fourth strain measuring element and / or the fifth strain measuring element are attached to both sides of the third through hole along the height direction of the radial connecting beam.

10. The multidimensional force measurement platform elastomer according to claim 4, characterized in that, The radial connecting beam is provided with a sixth strain measuring element on both sides along its width direction, and the sixth strain measuring element is attached to both sides of the second through hole.

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