CN105372002A - Orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform - Google Patents
Orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform Download PDFInfo
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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Abstract
本发明公开一种正交自标定分支双球解耦六维测力平台，它包括上平台、下平台、连接上下平台的双球解耦垂向测力分支和双球解耦水平测力分支；测力平台的双球解耦垂向测力分支包括垂向分支上支座、压紧端盖、垂向分支下支座、承载板、解耦钢球、定位柱、单维双向力传感器，双球解耦水平测力分支包括水平分支上支座、水平分支下支座、调紧楔块、解耦钢球、定位柱、单维双向力传感器；双球解耦垂向测力分支和双球解耦水平测力分支的数量分别为3-36个，两种分支数量相等，均布在上平台和下平台之间。本发明结构简单、通过钢球实现机械解耦，不需六维整体标定，维间耦合小，测量精度高，适用于重载大平面测量场合。
The invention discloses an orthogonal self-calibration branch double ball decoupling six-dimensional force measuring platform, which includes an upper platform, a lower platform, a double ball decoupling vertical force measuring branch and a double ball decoupling horizontal force measuring branch connecting the upper and lower platforms ;The double ball decoupling vertical force measuring branch of the force measuring platform includes the upper support of the vertical branch, the compression end cover, the lower support of the vertical branch, the bearing plate, the decoupling steel ball, the positioning column, and the single-dimensional two-way force sensor , double-ball decoupling horizontal force-measuring branch includes horizontal branch upper support, horizontal branch lower support, tightening wedge, decoupling steel ball, positioning column, single-dimensional bidirectional force sensor; double-ball decoupling vertical force-measuring branch The number of horizontal force-measuring branches decoupled from the double balls is 3-36, and the number of the two branches is equal, and they are evenly distributed between the upper platform and the lower platform. The invention has a simple structure, realizes mechanical decoupling through steel balls, does not need six-dimensional overall calibration, has small coupling between dimensions, and has high measurement accuracy, and is suitable for heavy-duty large-plane measurement occasions.
Description
技术领域technical field
本发明属于传感器领域，特别涉及一种正交自标定分支双球解耦六维测力平台。The invention belongs to the field of sensors, in particular to an orthogonal self-calibrating branch double-sphere decoupling six-dimensional force measuring platform.
背景技术Background technique
传感器是一种能把物理量、化学量、生物量等特定的被测量信息，按照一定规律转化成某些可用信号并输出的器件或装置。它是一个知识密集、技术密集、跨学科的独立机电一体化系统，同时又成为其它机电一体化系统的重要组成部分。因此，力传感器作为测量力学信号的基本单元在航空航天、机器人、生物力学等领域应用最广泛，而由于六维力传感器可以同时测量在笛卡尔坐标系中描述的六个力/力矩分量成为当前高技术领域最主要的力传感器。在六维力传感器的研制中，弹性体的结构因决定了多维力传感器的优劣而成为研究的核心问题。目前国内外发展相对比较成熟的微型、小量程多维力传感器，其弹性体结构多采用一体式结构，具有无关节摩擦和间隙、线性度好、重复性高以及滞后小的优点。但由于刚度低、维间耦合大、结构复杂、加工工艺性差等缺点导致其不适用于作为重载大型多维力传感器的弹性体结构。并联机构刚度大、力映射关系简明，是作为重载大型多维力传感器弹性体结构的理想选择。但由于存在关节摩擦和间隙，基于传统并联机构的大型多维力传感器普遍存在各向异性显著、维间耦合大、测量稳定性差等缺点。可以看出，基于传统并联机构的弹性体结构并不能满足研制重载大型多维力传感器的要求。重载多维力传感器由于维间耦合导致测力精度较低，适用性较差，限制了其在高精尖技术领域的应用。要抑制多维力传感器的维间耦合需设计传感器的结构，从源头上实现机械解耦。专利ZL200810055347.0公开了一种整体预紧双层上下非对称七杆并联结构六维力传感器，采用了锥头式球面副，具有刚度高、测量精度高等优点，但是采用锥头式球面副使得传感器测力分支只能承受压力，且需在底盘上方布置相同测力分支以便传感器可测量六维力。专利ZL99102526.1公开了一种整体预紧平台式六维力传感器，其分支也采用圆锥式球副，测力分支只能承受压力，因此在传统Stewart平台机构上、下平台间增设了预紧支路，同时增大了传感器刚度，但结构较为复杂，且预紧支路会对其它测量方向有耦合作用影响精度。专利ZL200910075789.6公开了一种过约束大量程并联六维测力平台，结构简单，测量精度高，适用于大量程测量场合，测力分支可承受拉力与压力，但是采用了传统球铰，关节间摩擦较大，影响测力平台的测量精度。专利ZL201310606316.0公开了一种机械解耦重载并联六维测力平台，具有测量精度高、量程大等优点，分支中采用了钢球结构，减小了关节摩擦耦合，但是测力分支只能承受压力，需要在测力台上方另外增设相应分支使得传感器可测量六维力，使得结构复杂，安装较困难难以保证上下分支钢球同心而影响测力平台精度。专利ZL201510433218.0公开了一种随路面的整车式动态汽车衡，可广泛应用于动态称重领域。专利ZL201410213086.6公开了一种汽车衡，秤台设置为分开式的并可拆卸，节省材料，方便运输，减少了自重。专利ZL201210085300.5公开一种汽车衡，结构新颖，具有在耗费同样多的钢材的前提下，提高秤体横向强度等优点。汽车衡称重结构中汽车衡测量分支也都采用了钢球结构使钢球与传感器接触，采用钢球使得测力分支关节摩擦解耦，但是测力分支只能承受拉力，可以满足汽车衡称重需求但是不能测量六维力，不能应用于六维力测量场合。A sensor is a device or device that can convert specific measured information such as physical quantities, chemical quantities, and biomass into certain usable signals and output them according to certain rules. It is a knowledge-intensive, technology-intensive, interdisciplinary independent mechatronics system, and at the same time becomes an important part of other mechatronics systems. Therefore, as the basic unit for measuring mechanical signals, force sensors are widely used in aerospace, robotics, biomechanics and other fields, and because six-dimensional force sensors can simultaneously measure six force/torque components described in the Cartesian coordinate system, it has become the current The most important force sensor in the high-tech field. In the development of the six-dimensional force sensor, the structure of the elastic body has become the core issue of the research because it determines the quality of the multi-dimensional force sensor. At present, the relatively mature miniature and small-scale multi-dimensional force sensors developed at home and abroad mostly adopt an integrated elastic body structure, which has the advantages of no joint friction and clearance, good linearity, high repeatability and small hysteresis. However, due to the shortcomings of low stiffness, large inter-dimensional coupling, complex structure, and poor processing technology, it is not suitable for elastic body structures as heavy-duty large-scale multi-dimensional force sensors. The parallel mechanism has high stiffness and concise force mapping relationship, which is an ideal choice for the elastic body structure of heavy-duty large-scale multi-dimensional force sensors. However, due to the existence of joint friction and gaps, large multi-dimensional force sensors based on traditional parallel mechanisms generally have shortcomings such as significant anisotropy, large inter-dimensional coupling, and poor measurement stability. It can be seen that the elastic body structure based on the traditional parallel mechanism cannot meet the requirements of developing a heavy-duty large-scale multi-dimensional force sensor. The heavy-duty multi-dimensional force sensor has low force measurement accuracy and poor applicability due to inter-dimensional coupling, which limits its application in the field of high-precision technology. In order to suppress the interdimensional coupling of multidimensional force sensors, it is necessary to design the structure of the sensor to realize mechanical decoupling from the source. Patent ZL200810055347.0 discloses a six-dimensional force sensor with an overall pre-tightened double-layer, upper and lower asymmetrical seven-bar parallel structure, which uses a cone-head spherical pair, which has the advantages of high rigidity and high measurement accuracy. However, the use of a cone-head spherical pair makes The force-measuring branch of the sensor can only withstand pressure, and the same force-measuring branch needs to be arranged above the chassis so that the sensor can measure six-dimensional force. Patent ZL99102526.1 discloses a six-dimensional force sensor with an integral preload platform, and its branches also use conical ball pairs. The force measuring branch can only bear pressure, so a preload is added between the upper and lower platforms of the traditional Stewart platform mechanism. At the same time, the stiffness of the sensor is increased, but the structure is relatively complex, and the pre-tightening branch will have coupling effects on other measurement directions and affect the accuracy. Patent ZL200910075789.6 discloses an over-constrained large-scale parallel six-dimensional force measuring platform, which has a simple structure and high measurement accuracy, and is suitable for large-scale measurement occasions. The friction between them is large, which affects the measurement accuracy of the force measuring platform. Patent ZL201310606316.0 discloses a mechanical decoupling heavy-duty parallel six-dimensional force measuring platform, which has the advantages of high measurement accuracy and large measuring range. The steel ball structure is used in the branch to reduce joint friction coupling, but the force measuring branch only To be able to bear the pressure, it is necessary to add corresponding branches above the force platform so that the sensor can measure the six-dimensional force, which makes the structure complex and difficult to install. It is difficult to ensure the concentricity of the upper and lower branch steel balls and affect the accuracy of the force platform. Patent ZL201510433218.0 discloses a vehicle-mounted dynamic truck scale that follows the road surface, which can be widely used in the field of dynamic weighing. Patent ZL201410213086.6 discloses a truck scale. The weighing platform is set to be separated and detachable, which saves materials, facilitates transportation, and reduces dead weight. Patent ZL201210085300.5 discloses a truck scale, which has a novel structure and has the advantages of increasing the lateral strength of the scale body under the premise of consuming the same amount of steel. The truck scale measurement branch in the truck scale weighing structure also uses a steel ball structure to make the steel ball contact with the sensor. The steel ball is used to decouple the joint friction of the force measurement branch, but the force measurement branch can only bear tension, which can meet the requirements of the truck scale. Heavy demand but cannot measure six-dimensional force, and cannot be used in six-dimensional force measurement occasions.
发明内容Contents of the invention
针对现有多维力传感器存在耦合及其解耦技术复杂等不足，提供了一种关节摩擦耦合小，测量精度高，输入输出关系明确、安装方便、适合大测力面大量程重载测量场合的六维力测力平台。Aiming at the shortcomings of existing multi-dimensional force sensors such as complex coupling and decoupling technology, a six-dimensional force sensor with small joint friction coupling, high measurement accuracy, clear input-output relationship, convenient installation, and suitable for large-scale measuring surface, large-scale and heavy-load measurement occasions is provided. Force measuring platform.
本发明解决上述技术问题所采用的技术方案如下：The technical solution adopted by the present invention to solve the problems of the technologies described above is as follows:
本发明包括上平台、下平台、连接上下平台的双球解耦垂向测力分支和双球解耦水平测力分支；双球解耦垂向测力分支和双球解耦水平测力分支的数量分别为3-36个，两种分支数量相等，均布在上平台和下平台之间。The invention includes an upper platform, a lower platform, a double-ball decoupling vertical force-measuring branch and a double-ball decoupling horizontal force-measuring branch connecting the upper and lower platforms; a double-ball decoupling vertical force-measuring branch and a double-ball decoupling horizontal force-measuring branch The number of branches is 3-36 respectively, and the number of the two branches is equal, and they are evenly distributed between the upper platform and the lower platform.
双球解耦垂向测力分支包括垂向分支上支座、上解耦钢球、定位柱、压紧端盖、承载板、单维双向力传感器、下解耦钢球、垂向分支下支座，其中，垂向分支上支座为带顶盖的方框型结构，在垂向分支上支座的顶盖正中设有通孔，通孔内设有上压紧端盖，在上压紧端盖和单维双向力传感器上端之间设有上解耦钢球，在上解耦钢球相对应的垂向分支上支座竖板水平四个侧面上分别设有通孔，通孔内分别设有弹簧支撑可伸缩的定位柱；垂向分支下支座为凹型结构；垂向分支上支座与垂向分支下支座相错相扣连接，在垂向分支下支座的两个竖板之间设有带通孔的承载板，上述单维双向力传感器固定在承载板上；在垂向分支上支座底盖中心设有盲孔，盲孔内放有下压紧端盖，下压紧端盖上设有下解耦钢球，在下解耦钢球相对应垂向分支上支座竖板水平四个侧面上分别设有通孔，通孔内分别设有弹簧支撑可伸缩的定位柱；上述单维双向力传感器下端与下解耦钢球接触；通过调整设在垂向分支上支座上面的压紧端盖与上解耦钢球间的间隙实现预紧调整。The double ball decoupling vertical force measurement branch includes the vertical branch upper support, the upper decoupling steel ball, the positioning column, the compression end cover, the bearing plate, the single-dimensional two-way force sensor, the lower decoupling steel ball, the lower vertical branch The support, wherein, the upper support of the vertical branch is a square frame structure with a top cover, and a through hole is provided in the middle of the top cover of the upper support of the vertical branch, and an upper compression end cover is provided in the through hole. An upper decoupling steel ball is provided between the compression end cover and the upper end of the single-dimensional bidirectional force sensor, and through holes are respectively provided on the four horizontal sides of the vertical branch of the upper support vertical plate corresponding to the upper decoupling steel ball. The holes are respectively equipped with spring-supported and retractable positioning columns; the lower support of the vertical branch is a concave structure; the upper support of the vertical branch and the lower support of the vertical branch are interlocked and connected. A bearing plate with a through hole is arranged between the two vertical plates, and the above-mentioned one-dimensional bidirectional force sensor is fixed on the bearing plate; a blind hole is arranged in the center of the bottom cover of the upper support on the vertical branch, and a lower pressing force sensor is placed in the blind hole. End cover, the lower compression end cover is provided with a lower decoupling steel ball, and through holes are respectively provided on the four horizontal sides of the vertical branch of the upper support vertical plate corresponding to the lower decoupling steel ball, and springs are respectively provided in the through holes. Support the retractable positioning column; the lower end of the above-mentioned one-dimensional two-way force sensor is in contact with the lower decoupling steel ball; the pre-tightening is realized by adjusting the gap between the compression end cover on the upper support of the vertical branch and the upper decoupling steel ball Adjustment.
双球解耦水平测力分支包括水平分支上支座、左解耦钢球、定位柱、单维双向力传感器、调紧楔块、右解耦钢球、水平分支下支座。其中，水平分支上支座为向下的凹型结构，在水平分支上支座两向下凸块中间左右方向分别设有水平通孔，通孔内分别设有调紧楔块和解耦钢球；在左、右解耦钢球相对应水平分支上支座竖板水平四个侧面上分别设有通孔，通孔内分别设有弹簧支撑可伸缩的定位柱；水平分支下支座为倒T型结构，水平分支上支座与水平分支下支座倒扣在一起，水平分支下支座的垂直板中间设有单维双向力传感器，该传感器与上述两个钢球相接触；通过调节上述在水平分支上支座的调紧楔块与解耦钢球间的间隙实现预紧调整。The double ball decoupling horizontal force measuring branch includes the upper support of the horizontal branch, the left decoupling steel ball, the positioning column, the single-dimensional bidirectional force sensor, the tightening wedge, the right decoupling steel ball, and the lower support of the horizontal branch. Among them, the upper support of the horizontal branch is a downward concave structure, and horizontal through holes are respectively provided in the left and right directions between the two downward projections of the upper support of the horizontal branch, and the through holes are respectively provided with tightening wedges and decoupling steel balls ; The left and right decoupling steel balls are respectively provided with through holes on the horizontal four sides of the vertical plate of the upper support of the horizontal branch, and the through holes are respectively provided with spring-supported and telescopic positioning columns; the lower support of the horizontal branch is an inverted T-shaped structure, the upper support of the horizontal branch and the lower support of the horizontal branch are buckled together, and a single-dimensional two-way force sensor is arranged in the middle of the vertical plate of the lower support of the horizontal branch, and the sensor is in contact with the above two steel balls; by adjusting The gap between the tightening wedge on the upper support of the horizontal branch and the decoupling steel ball realizes preload adjustment.
本发明的有益效果是：The beneficial effects of the present invention are:
1.关节间为滚动摩擦，关节摩擦耦合小，测量精度高。1. There is rolling friction between the joints, the joint friction coupling is small, and the measurement accuracy is high.
2.双球解耦垂向测力分支与双球解耦水平测力分支机械解耦且可承受双向受力。2. The double-ball decoupling vertical force-measuring branch is mechanically decoupled from the double-ball decoupling horizontal force-measuring branch and can withstand two-way force.
3.测力平台对于各维力加载测量的输入输出关系明确，标定简单。3. The force measuring platform has a clear input-output relationship for each force loading measurement, and the calibration is simple.
4.双球解耦垂向测力分支与双球解耦水平测力分支模块化，安装调试便捷。4. The double-ball decoupling vertical force-measuring branch and the double-ball decoupling horizontal force-measuring branch are modular, easy to install and debug.
附图说明Description of drawings
图1为本发明的16分支正交自标定分支双球解耦六维测力平台示意简图；Fig. 1 is a schematic diagram of a 16-branch orthogonal self-calibration branch double-sphere decoupling six-dimensional force measuring platform of the present invention;
图2为本发明的16分支正交自标定分支双球解耦六维测力平台剖面图A-A示意简图；Fig. 2 is a schematic diagram of the sectional view A-A of the 16-branch orthogonal self-calibration branch double-sphere decoupling six-dimensional force measuring platform of the present invention;
图3为本发明双球解耦垂向测力分支结构示意简图；Fig. 3 is a schematic diagram of the branch structure of the double ball decoupling vertical force measurement of the present invention;
图4为本发明双球解耦垂向测力分支剖面B-B结构示意简图；Fig. 4 is a schematic diagram of the B-B structure of the double-ball decoupling vertical force-measuring branch section of the present invention;
图5为本发明双球解耦水平测力分支结构示意简图；Fig. 5 is a schematic diagram of the double-ball decoupling horizontal force-measuring branch structure of the present invention;
图6为本发明双球解耦水平测力分支剖面C-C结构示意简图；Fig. 6 is a schematic diagram of the C-C structure of the double-ball decoupling horizontal force-measuring branch section of the present invention;
图7为本发明解耦钢球与定位柱剖面D-D示意简图；Fig. 7 is a schematic diagram of the section D-D of the decoupling steel ball and the positioning column of the present invention;
图8为本发明水平分支调整楔块示意简图。Fig. 8 is a schematic diagram of a horizontal branch adjusting wedge of the present invention.
图中：1、上平台；2、双球解耦垂向测力分支；3、双球解耦水平测力分支；4、下平台；5、垂向分支上支座；6、上压紧端盖；7、上解耦钢球；8、定位柱；9、单维双向力传感器；10、承载板；11、下解耦钢球；12、下压紧端盖；13、垂向分支下支座；14、水平分支上支座；15、调紧楔块；16、右解耦钢球；17、单维双向力传感器；18、左解耦钢球；19、水平分支下支座。In the figure: 1. Upper platform; 2. Double ball decoupling vertical force measuring branch; 3. Double ball decoupling horizontal force measuring branch; 4. Lower platform; 5. Vertical branch upper support; 6. Upper pressing End cover; 7. Upper decoupling steel ball; 8. Positioning column; 9. Single-dimensional bidirectional force sensor; 10. Loading plate; 11. Lower decoupling steel ball; 12. Lower compression end cover; 13. Vertical branch Lower support; 14. Upper support of horizontal branch; 15. Tightening wedge; 16. Right decoupling steel ball; 17. Single-dimensional bidirectional force sensor; 18. Left decoupling steel ball; 19. Lower support of horizontal branch .
具体实施方式detailed description
在图1、图2所示的正交自标定弱耦合重载并联六维力测力平台示意图中，上平台1和下平台4的通过4个双球解耦垂向测力分支2与4个双球解耦水平测力分支3连接，两种分支数量相等，均布在上平台和下平台之间；In the schematic diagrams of the orthogonal self-calibration weakly coupled heavy-duty parallel six-dimensional force measuring platform shown in Figure 1 and Figure 2, the vertical force measuring branches 2 and 4 of the upper platform 1 and the lower platform 4 are decoupled by four double balls Three double-ball decoupling horizontal force-measuring branches are connected, and the two branches are equal in number and evenly distributed between the upper platform and the lower platform;
双球解耦垂向测力分支如图3和图4所示，双球解耦垂向测力分支中的垂向分支上支座5为带顶盖的方框型结构，在垂向分支上支座的上面正中设有通孔，通孔内设有上压紧端盖6，在压紧端盖和单维双向力传感器9上端之间设有上解耦钢球7，在上解耦钢球相对应的水平四面的垂向分支上支座竖板上分别设有通孔，通孔内分别设有弹簧支撑可伸缩定位柱8(如图7所示)；垂向分支下支座13为凹型结构，垂向分支上支座的竖板朝下与垂向分支下支座相错相扣连接，在垂向分支下支座的两个竖板之间设有带通孔的承载板10，上述单维双向力传感器固定在承载板上，在垂向分支下支座内中心设有盲孔,盲孔中设有下压紧端盖12，下压紧端盖上设有下解耦钢球11，在下解耦钢球相对应的水平四面的垂向分支上支座竖板和垂向分支下支座竖板上分别设有通孔，通孔内分别设有与上述相同的定位柱，上述单维双向力传感器下端与下解耦钢球接触；垂向分支上支座通过上解耦钢球将向下作用力作用在力传感器上，通过下解耦钢球将向上作用力作用在力传感器上，通过调整设在垂向分支上支座上面的压紧端盖与上解耦钢球间的间隙实现预紧调整。The double-ball decoupling vertical force-measuring branch is shown in Figure 3 and Figure 4. The vertical branch upper support 5 in the double-ball decoupling vertical force-measuring branch is a square frame structure with a top cover. A through hole is provided in the upper center of the upper support, and an upper compression end cover 6 is arranged in the through hole, and an upper decoupling steel ball 7 is arranged between the compression end cover and the upper end of the single-dimensional bidirectional force sensor 9, and an upper decoupling steel ball 7 is arranged between the upper end of the upper support. The vertical branches on the four sides of the vertical branches corresponding to the coupling steel balls are respectively provided with through holes on the vertical plates, and the through holes are respectively provided with spring support telescopic positioning columns 8 (as shown in Figure 7); The seat 13 is a concave structure, the vertical plate of the upper support of the vertical branch faces downward and interlocks with the lower support of the vertical branch, and a through hole is provided between the two vertical plates of the lower support of the vertical branch. The bearing plate 10, the above-mentioned one-dimensional bidirectional force sensor is fixed on the bearing plate, a blind hole is arranged in the center of the lower support of the vertical branch, a lower compression end cover 12 is arranged in the blind hole, and a lower compression end cover is provided with The lower decoupling steel ball 11 is provided with through holes on the vertical branch upper support vertical plate and the vertical branch lower support vertical plate corresponding to the lower decoupling steel ball, and the through holes are respectively provided with the above-mentioned For the same positioning column, the lower end of the above-mentioned one-dimensional two-way force sensor is in contact with the lower decoupling steel ball; the upper support of the vertical branch acts on the force sensor through the upper decoupling steel ball, and the lower decoupling steel ball The upward force acts on the force sensor, and the preload adjustment is realized by adjusting the gap between the compression end cover on the upper support of the vertical branch and the upper decoupling steel ball.
双球解耦水平测力分支如图5、图6和图8所示，双球解耦水平测力分支中的水平分支上支座14为凹型结构，在水平分支上支座两向下凸块中间分别设有水平通孔，通孔内分别设有调紧楔块15和右解耦钢球16、左解耦钢球18，在水平分支上支座两壁与左、右解耦钢球相对应的位置设有水平和垂直通孔，在解耦钢球四周的通孔内分别设有与上述双球解耦垂向测力分支相同的定位柱；水平分支下支座19为倒T型结构，水平分支上支座与水平分支下支座倒扣在一起，水平分支下支座的垂直板中间设有单维双向力传感器17，该传感器与上述左、右两个钢球相接触，水平分支上支座通过解耦钢球将水平作用力作用在力传感器上，通过调节上述在水平分支上支座两侧的调紧楔块能够实现水平测力分支预紧，上述设在解耦钢球部位的四周均布四个定位柱使解耦钢球与单维双向力传感器保证同心，测力平台受到水平分支所测量方向正向力时单维双向力传感器与水平分支上支座中的一侧解耦钢球相接触受力，测力平台受到水平分支所测量方向反向力时单维双向力传感器与水平分支上支座中的另一侧解耦钢球相接触受力。The double-ball decoupling horizontal force-measuring branch is shown in Figure 5, Figure 6 and Figure 8, the horizontal branch upper support 14 in the double-ball decoupling horizontal force-measuring branch is a concave structure, and the two downward convex supports on the horizontal branch There are horizontal through holes in the middle of the blocks, and the tightening wedges 15, right decoupling steel balls 16, and left decoupling steel balls 18 are respectively arranged in the through holes. The positions corresponding to the balls are provided with horizontal and vertical through holes, and in the through holes around the decoupling steel balls are respectively provided the same positioning posts as the above-mentioned double ball decoupling vertical force measuring branches; the lower support 19 of the horizontal branch is an inverted T-shaped structure, the upper support of the horizontal branch and the lower support of the horizontal branch are buckled together, and a single-dimensional two-way force sensor 17 is arranged in the middle of the vertical plate of the lower support of the horizontal branch. Contact, the upper support of the horizontal branch acts the horizontal force on the force sensor through the decoupling steel ball, and the pre-tightening of the horizontal force measuring branch can be realized by adjusting the tightening wedges on both sides of the upper support of the horizontal branch. Four positioning columns are evenly distributed around the decoupling steel ball so that the decoupling steel ball and the one-dimensional bidirectional force sensor are concentric. When the force measuring platform is subjected to the positive force in the direction measured by the horizontal branch The decoupling steel ball on one side of the seat is in contact with the force, and when the force measuring platform is subjected to the reverse force in the direction measured by the horizontal branch, the single-dimensional bidirectional force sensor is in contact with the decoupling steel ball on the other side of the upper support of the horizontal branch. force.
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