Automatic calibration device for six-dimensional force sensor

Abstract

The utility model discloses an automatic calibration device for a six-dimensional force sensor, which comprises a calibration test bench, a sensor to be calibrated is mounted on the calibration test bench, a loading cover is mounted on the sensor to be calibrated, and seven supporting seats are distributed on the calibration test bench. The arrangement positions of the seven supporting seats correspond to the position directions of the transverse force, the longitudinal force, the vertical force, the transverse torque, the longitudinal torque and the vertical torque of a sensor to be calibrated respectively, each supporting seat is provided with a servo motor, and an output shaft of each servo motor is connected with a rotating shaft sleeve; according to the utility model, the automatic, rapid and accurate calibration of the sensor is realized, and the servo motor is adopted to provide a pulling force for the sensor to be calibrated, so that the stability of force application is improved, the efficiency of a sensor calibration experiment is greatly enhanced, the calibration frequency range of the six-dimensional force sensor is enlarged, and the influence of environmental factors on the pulling force application is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanics test technical field, concretely relates to a six dimension force sensor automatic calibration device. BACKGROUND

[0002] With the rapid development of industrial automation and robot technology, the precision and stability of force sensors are increasingly required. Six-dimensional force sensors, as a device capable of measuring forces and torques on six degrees of freedom of an object, have wide application prospects in industrial robots, automated production lines and other fields.

[0003] However, the measurement accuracy and stability of six-dimensional force sensors may be affected due to environmental factors, wear and tear, etc. during use. Therefore, it is crucial to regularly calibrate and debug six-dimensional force sensors. Traditional calibration methods mostly use manual operation, which is not only inefficient but also prone to human error. Therefore, developing a six-dimensional force sensor automatic calibration device to achieve automatic, rapid and accurate calibration of sensors has become an important research direction in the field of sensor technology. UTILITY MODEL CONTENT

[0004] In view of the existing technical problems, the utility model discloses a six-dimensional force sensor automatic calibration device to solve the problems in the prior art.

[0005] In order to achieve the above-mentioned invention purposes, the utility model provides the following technical scheme:

[0006] A six-dimensional force sensor automatic calibration device, comprising a calibration test bench, a sensor to be calibrated is installed at the center through hole of the calibration test bench, a loading cover is installed on the sensor to be calibrated, a cross beam, a longitudinal beam and a vertical beam are arranged on the loading cover, the cross beam and the longitudinal beam are arranged in a cross shape along the horizontal direction, the vertical beam is arranged along the vertical direction, and the cross beam, the longitudinal beam and the vertical beam are arranged at 90° to each other, first loading holes are arranged on the cross beam near both ends thereof, on the longitudinal beam near both ends thereof and on the vertical beam near the upper end thereof respectively;

[0007] Seven support seats are distributed on the calibration test bench, which are a first support seat, a second support seat, a third support seat, a fourth support seat, a fifth support seat, a sixth support seat and a seventh support seat, a servo motor is arranged on each support seat, and a rotating shaft sleeve is connected to the output shaft of each servo motor;

[0008] The rotating shaft sleeve on the first support seat is located on the same vertical line as the vertical beam, the rotating shaft sleeve on the second support seat is located on the same horizontal line as the longitudinal beam, the rotating shaft sleeve on the third support seat is located on the same horizontal line as the cross beam, the fourth support seat is arranged along the direction of the cross beam of the loading cover, and the rotating shaft sleeve on the fourth support seat is located on the same straight line as the first loading hole on the vertical beam, the longitudinal moment is generated by the fourth support seat and the servo motor on the third support seat, the fifth support seat is arranged along the direction of the longitudinal beam of the loading cover, and the rotating shaft sleeve on the fifth support seat is located on the same straight line as the first loading hole on the vertical beam, the transverse moment is generated by the fifth support seat and the servo motor on the second support seat, the vertical moment is generated by the servo motors on the sixth support seat and the seventh support seat, the rotating shaft sleeve on the sixth support seat is located on the same horizontal line as one of the first loading holes on the cross beam, and the rotating shaft sleeve on the seventh support seat is located on the same horizontal line as the other first loading hole on the cross beam.

[0009] Preferably, the vertical beam is located above the cross beam and the longitudinal beam, and the connecting point of the cross beam, the longitudinal beam and the vertical beam is located at the center of the loading cover.

[0010] Preferably, the loading cover is also provided with a connecting hole connected with the connecting seat on the sensor to be calibrated through a fastener.

[0011] Preferably, the center line of the first loading hole on the cross beam and the longitudinal beam is arranged in the vertical direction, and the center line of the first loading hole on the vertical beam is arranged in the horizontal direction.

[0012] Preferably, the rotating shaft sleeve comprises a sleeve body, the sleeve body is provided with a mounting hole in the axial direction, the mounting hole is connected with the output shaft of the servo motor, and the sleeve body is provided with a second loading hole in the radial direction.

[0013] Preferably, the sleeve body comprises a large-diameter section and a small-diameter section, the mounting hole is located in the large-diameter section, and the second loading hole is located in the small-diameter section.

[0014] Compared with the prior art, the automatic, rapid and accurate calibration of the sensor is realized, the servo motor is used to provide the tension for the sensor to be calibrated, the stability of force exertion is improved, the efficiency of sensor calibration experiment is greatly improved, the calibration frequency range of the six-dimensional force sensor is increased, and the influence of environmental factors on the exertion of tension is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic view of the six-dimensional force sensor automatic calibration device.

[0016] Figure 2 for Figure 1 A schematic diagram of the loading cover structure in the middle;

[0017] Figure 3 for Figure 1 A schematic diagram of the structure of the shaft sleeve on the servo motor;

[0018] Figure 4 for Figure 1 A schematic diagram of the working state under longitudinal force calibration;

[0019] Figure 5 for Figure 1 A schematic diagram of the working state under transverse force calibration;

[0020] Figure 6 for Figure 1 A schematic diagram of the working state under vertical force calibration;

[0021] Figure 7 for Figure 1 A schematic diagram of the working state under longitudinal torque calibration;

[0022] Figure 8 for Figure 1 A schematic diagram of the working state under lateral torque calibration;

[0023] Figure 9 for Figure 1 A schematic diagram of the working state under vertical torque calibration. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to experimental examples and specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. All technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0025] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] As attached Figure 1 -Appendix Figure 9The automatic calibration device of the six-dimensional force sensor shown comprises a calibration test table 11, a sensor 10 to be calibrated is installed at the central through hole of the calibration test table 11, a loading cover 8 is installed on the sensor 10 to be calibrated, seven support seats are distributed on the calibration test table 11, which are a first support seat 1, a second support seat 2, a third support seat 3, a fourth support seat 4, a fifth support seat 5, a sixth support seat 6 and a seventh support seat 7, a servo motor is arranged on each support seat, and a rotating shaft sleeve 9 is connected to the output shaft of each servo motor.

[0027] The automatic calibration device of the six-dimensional force sensor shown comprises a calibration test table 11, a sensor 10 to be calibrated is installed at the central through hole of the calibration test table 11, a loading cover 8 is installed on the sensor 10 to be calibrated, seven support seats are distributed on the calibration test table 11, which are a first support seat 1, a second support seat 2, a third support seat 3, a fourth support seat 4, a fifth support seat 5, a sixth support seat 6 and a seventh support seat 7, a servo motor is arranged on each support seat, and a rotating shaft sleeve 9 is connected to the output shaft of each servo motor.

[0028] From Figure 2 It can be seen that the loading cover 8 comprises a loading cover body 80, a cross beam 81, a longitudinal beam 82 and a vertical beam 83 are arranged on the loading cover body 80, the cross beam 81 and the longitudinal beam 82 are arranged in a cross shape along the horizontal direction, the vertical beam 83 is arranged along the vertical direction, the cross beam 81, the longitudinal beam 82 and the vertical beam 83 are arranged at an angle of 90° with each other, the vertical beam 83 is located above the cross beam 81 and the longitudinal beam 82, and the connecting points of the cross beam 81, the longitudinal beam 82 and the vertical beam 83 are located at the center of the loading cover 8. A connecting hole is also distributed on the loading cover body 80, which is connected to the connecting seat on the sensor 10 to be calibrated through a fastener.

[0029] First loading holes 84 are arranged on the cross beam 81 near both ends thereof, on the longitudinal beam 82 near both ends thereof and on the vertical beam 83 near the upper end thereof, respectively; the center lines of the first loading holes 84 on the cross beam 81 and the longitudinal beam 82 are arranged along the vertical direction, and the center line of the first loading hole 84 on the vertical beam 83 is arranged along the horizontal direction.

[0030] From Figure 3 It can be seen that the rotating shaft sleeve 9 comprises a sleeve body 90, an installation hole 91 is arranged on the sleeve body 90 along the axial direction thereof, the installation hole 91 is connected to the output shaft of the servo motor, a second loading hole 92 is arranged on the sleeve body 90 along the radial direction thereof, the sleeve body 90 comprises a large-diameter section and a small-diameter section, the installation hole 91 is located in the large-diameter section, and the second loading hole 92 is located in the small-diameter section.

[0031] The rotating shaft sleeve 9 on the first support seat 1 is located on the same vertical line as the vertical beam 83, the rotating shaft sleeve 9 on the second support seat 2 is located on the same horizontal line as the longitudinal beam 82, the rotating shaft sleeve 9 on the third support seat 3 is located on the same horizontal line as the transverse beam 81, the fourth support seat 4 is arranged along the direction of the transverse beam 81 of the loading cover 8, and the rotating shaft sleeve 9 on the fourth support seat 4 is located on the same straight line as the first loading hole 84 on the vertical beam 83, the longitudinal moment is generated by the fourth support seat 4 and the servo motor on the third support seat 3, the fifth support seat 5 is arranged along the direction of the longitudinal beam 82 of the loading cover 8, and the rotating shaft sleeve 9 on the fifth support seat 5 is located on the same straight line as the first loading hole 84 on the vertical beam 83, the transverse moment is generated by the fifth support seat 5 and the servo motor on the second support seat 2, the vertical moment is generated by the servo motors on the sixth support seat 6 and the seventh support seat 7, the rotating shaft sleeve 9 on the sixth support seat 6 is located on the same horizontal line as one of the first loading holes 84 on the transverse beam 81, and the rotating shaft sleeve 9 on the seventh support seat 7 is located on the same horizontal line as the other first loading hole 84 on the transverse beam 81.

[0032] When calibration, the first loading hole on the loading cover 8 is connected with the second loading hole on the rotating shaft sleeve 9 of the servo motor on the support seat of the corresponding station by a rope, different directions of force can be provided for the sensor to be calibrated, so that different directions of force or moments are generated.

[0033] The rope and the loading station are arranged in one of the following six states:

[0034] The longitudinal force loading state includes one rope and the second loading station, specifically, the rotating shaft sleeve of the servo motor on the second support seat 2 is connected to one end of the rope, the other end of the rope is fixedly connected with the longitudinal beam 82 of the loading cover 8, and the rope is tensioned in the longitudinal direction between the two;

[0035] The transverse force loading state includes one rope and the third loading station, specifically, the rotating shaft sleeve of the servo motor on the third support seat 3 is connected to one end of the rope, the other end of the rope is fixedly connected with the transverse beam 81 of the loading cover, and the rope is tensioned in the transverse direction between the two;

[0036] The vertical force loading state includes one rope and the first loading station, specifically, the rotating shaft sleeve of the servo motor on the first support seat 1 is connected to one end of the rope, the other end of the rope is fixedly connected with the vertical beam 83 of the loading cover 8, and the rope is tensioned in the vertical direction between the two;

[0037] The longitudinal moment loading state includes two ropes, the third loading station and the longitudinal moment loading station, specifically, the rotating shaft sleeve of the servo motor on the third support seat 3 is connected to one end of the first rope, the other end of the rope is fixedly connected with the transverse beam 81 of the loading cover, and the rope is tensioned in the transverse direction between the two;

[0038] The other end of the other rope is connected with the rotating shaft sleeve of the servo motor on the fourth support 4, and the other end of the rope is connected and fixed with the vertical beam 83 of the loading cover, and the rope is tensioned between the two in the transverse direction;

[0039] The transverse torque loading state includes two ropes, a second loading station and a transverse torque loading station, specifically the rotating shaft sleeve of the servo motor on the second support 2 is connected to one end of the first rope, and the other end of the rope is connected and fixed with the vertical beam 82 of the loading cover, and the rope is tensioned between the two in the longitudinal direction;

[0040] The other end of the other rope is connected with the rotating shaft sleeve of the servo motor on the fifth support 5, and the other end of the rope is connected and fixed with the vertical beam 83 of the loading cover, and the rope is tensioned between the two in the longitudinal direction;

[0041] The vertical torque loading state includes two ropes and two vertical torque loading stations, the rotating shaft sleeve of the servo motor on the sixth support 6 is connected to one end of the first rope, and the other end of the rope is connected and fixed with the horizontal beam 81 of the loading cover, and the rope is tensioned between the two in the longitudinal direction;

[0042] The other end of the other rope is connected with the rotating shaft sleeve of the servo motor on the seventh support 7, and the other end of the rope is connected and fixed with the horizontal beam 81 of the loading cover, and the rope is tensioned between the two in the longitudinal direction;

[0043] By installing the rotating shaft sleeve on the rotating shaft of the servo motor, the rope is connected with the rotating shaft of the servo motor, the torque provided by the servo motor is converted into the required tension, and the direction of the provided tension is the standard direction corresponding to the calibration of the sensor to be calibrated;

[0044] The PLC controls the servo motor through the motion control card, the instruction sent by the PLC is first transmitted to the motion control card for processing, and then the processed instruction is sent to the servo motor controller to control the motion of the servo motor. And electrically connected with the encoder of the servo motor, read the position feedback information of the servo motor from the encoder, and control accordingly as needed.

[0045] A six-dimensional force sensor automatic calibration device calibration method adopts Figures 1-9 The six-dimensional force sensor automatic calibration device comprises the following steps:

[0046] Step one, install the sensor 10 to be calibrated and the loading cover 8

[0047] The base is fixedly installed on the calibration test bench 11, the sensor 10 to be calibrated is installed on the base, and then the loading cover 8 is installed on the sensor 10 to be calibrated, and the center through hole of the base, the sensor to be calibrated and the calibration test bench are concentrically arranged;

[0048] Step two, automatic calibration of longitudinal force for the sensor to be calibrated 10

[0049] Take a rope, one end of the rope is connected with the front end of the longitudinal beam of the loading cover, and then the other end of the rope is connected with the shaft sleeve 9 of the servo motor on the second support seat 2, the rope is tensioned longitudinally between the two, the servo motor shaft torque is adjusted using PLC to change the applied tension, the dynamic data of the sensor to be calibrated is collected during the transformation of the torque, and the static data is collected after the system is stable, the data acquisition control unit is connected with the circuit of the sensor to be calibrated, compared with the standard six-dimensional force sensor, the electric signal of the sensor to be calibrated is collected and calculated, and the calibration result is obtained;

[0050] Step three: automatic calibration of transverse force for the sensor to be calibrated

[0051] Take a rope, one end of the rope is connected with the transverse beam on the loading cover 8, and then the other end of the rope is connected with the shaft sleeve 9 of the servo motor on the third support seat 3, the rope is tensioned transversely between the two, the servo motor shaft torque is adjusted using PLC to change the applied tension, the dynamic data of the sensor is collected during the transformation of the torque, and the static data is collected after the system is stable, the data acquisition control unit is connected with the circuit of the sensor to be calibrated 10, compared with the standard six-dimensional force sensor, the electric signal of the sensor to be calibrated 10 is collected and calculated, and the calibration result is obtained;

[0052] Step four: automatic calibration of vertical force for the sensor to be calibrated 10

[0053] Take a rope, one end of the rope is connected with the vertical beam 83 on the loading cover 8, and then the other end of the rope is connected with the shaft sleeve 9 of the servo motor on the first support seat 1, the rope is tensioned vertically between the two, the servo motor shaft torque is adjusted using PLC to change the applied tension, the dynamic data of the sensor to be calibrated 10 is collected during the transformation of the torque, and the static data is collected after the system is stable, the data acquisition control unit is connected with the circuit of the sensor to be calibrated 10, compared with the standard six-dimensional force sensor, the electric signal of the sensor to be calibrated is collected and calculated, and the calibration result is obtained;

[0054] Step five: automatic calibration of longitudinal moment for the sensor to be calibrated 10

[0055] Take two ropes, one end of the first rope is connected with the transverse beam 81 on the loading cover 8, and then the other end of the rope is connected with the shaft sleeve of the servo motor on the third support seat 3, the rope is tensioned transversely between the two;

[0056] One end of the second rope is fixedly connected with the vertical beam 83 on the loading cover 8, and the other end of the rope is then fixedly connected with the shaft sleeve 9 of the servo motor on the fourth support base 4, and the rope is vertically tensioned between the two;

[0057] The PLC is used to adjust the torque of the shaft of the servo motor so as to change the longitudinal moment, the data acquisition control unit is connected with the sensor circuit to be calibrated, is compared with the standard six-dimensional force sensor, and the electric signal of the sensor 10 to be calibrated is acquired and calculated to obtain the calibration result.

[0058] Step six: automatic calibration of the sensor 10 to be calibrated in the transverse moment

[0059] Two ropes are taken, one end of the first rope is fixedly connected with the longitudinal beam 82 of the loading cover 8, and the other end of the rope is then fixedly connected with the shaft sleeve of the servo motor on the second support base 2, and the rope is longitudinally tensioned between the two;

[0060] One end of the second rope is fixedly connected with the vertical beam 83 of the loading cover 8, and the other end of the rope is then fixedly connected with the shaft sleeve of the servo motor on the fifth support base 5, and the rope is vertically tensioned between the two;

[0061] The PLC is used to adjust the torque of the shaft of the servo motor so as to change the transverse moment, the data acquisition control unit is connected with the sensor circuit to be calibrated, is compared with the standard six-dimensional force sensor, and the electric signal of the sensor 10 to be calibrated is acquired and calculated to obtain the calibration result.

[0062] Step seven: automatic calibration of the sensor 10 to be calibrated in the vertical moment

[0063] Two ropes are taken, one end of the first rope is fixedly connected with one end of the cross beam 81 of the loading cover 8, and the other end of the rope is then fixedly connected with the shaft sleeve of the servo motor on the sixth support base 6, and the rope is longitudinally tensioned between the two;

[0064] One end of the second rope is fixedly connected with the other end of the cross beam 81 of the loading cover 8, and the other end of the rope is then fixedly connected with the shaft sleeve of the servo motor on the seventh support base 7, and the rope is longitudinally tensioned between the two;

[0065] The PLC is used to adjust the torque of the shaft of the servo motor so as to change the vertical moment, the data acquisition control unit is connected with the sensor circuit to be calibrated, is compared with the standard six-dimensional force sensor, and the electric signal of the sensor 10 to be calibrated is acquired and calculated to obtain the calibration result.

[0066] The PLC outputs a certain level of analog quantity to the servo motor to set the torque output of the motor shaft. This control method can adjust the torque by changing the setting of the analog quantity in real time, ensuring that the stress on the material does not change with the change in winding radius.

[0067] The servo motor uses a vector control algorithm to convert the set torque demand into corresponding current output through the frequency converter. During torque control, the motor's current measurement value is compared with the set torque demand. Through closed-loop feedback control, the controller adjusts the current output to ensure that the actual output torque is consistent with the set value. The closed-loop feedback control of the servo motor is achieved using a PID (Proportional-Integral-Differential) controller to improve the accuracy and response speed of torque control.

[0068] The PLC is used to control the torque of the servo motor shaft. The applied tension is calculated using the formula F=T*r, and the applied tension is adjusted by adjusting the torque of the servo motor shaft. The data acquisition control unit collects, records, and stores the electrical signals generated by comparing the force / torque of the sensor in each direction to be calibrated with the standard tension / torque values. The electrical signals of the six-axis force sensor are compared with the standard six-axis force sensor. Finally, based on the collected electrical signals of the six-axis force sensor, linear equations of the six-axis force sensor are established, and the tension error value is calculated using the least squares method. The number of sampling points of the electrical signals of the six-axis force sensor is determined by the type of sensor.

[0069] The data acquisition control unit, servo motor encoder, and communication bus are electrically connected. By outputting corresponding instruction data, automatic control of the servo motor and remote power supply is realized, and the torque of the servo motor and the standard power supply that meets the sensor's work are automatically controlled;

[0070] The operation interface is used to input the model number, range, and other information of the six-axis force sensor to be calibrated, select the appropriate range of the standard tension generating device, and start the automatic calibration program. The final calibration result is displayed.

[0071] In this embodiment, the model of the servo motor is 90ST-M04025, and the force source adjustment uses a purchased PLC with the model S7-1200.

[0072] The technical advantages of the present application are as follows:

[0073] The use of a servo motor to provide tension for the sensor improves the stability of the force application, greatly enhances the efficiency of the sensor calibration experiment, increases the calibration frequency range of the six-axis force sensor, and reduces the influence of environmental factors on the applied tension.

[0074] The servo motor in torque mode is controlled by PLC, the automation degree of the calibration experiment is improved, and the precision control of the servo motor can be realized by the precision calculation and the output of the corresponding control signal of the PLC.

[0075] The device adopts modular design, has good expansibility, can flexibly configure the control system according to different requirements, realizes the control of different models and different formats of servo motors, and is convenient for maintenance and fault detection.

[0076] The automatic control system is used to replace the traditional calibration experiment process, the efficiency of the six-dimensional force sensor automatic calibration can be improved, the computer is used to replace the original data recording method, the manual cost is reduced, and batch calibration of the sensor is realized.

[0077] The above describes the preferred embodiment of the utility model. It should be understood that those skilled in the art can make many modifications and changes without creative labor according to the concept of the utility model. Therefore, any technical scheme obtained by logical analysis, reasoning or limited experiment on the basis of the prior art according to the concept of the utility model shall be within the protection scope determined by the claims.

Claims

1. An automatic calibration device for a six-dimensional force sensor, comprising a calibration test bench (11), wherein a sensor (10) to be calibrated is installed at the central through hole of the calibration test bench (11), characterized in that: The sensor (10) to be calibrated is equipped with a loading cover (8), which has a crossbeam (81), a longitudinal beam (82) and a vertical beam (83). The crossbeam (81) and the longitudinal beam (82) are arranged in a cross shape along the horizontal direction, and the vertical beam (83) is arranged in the vertical direction. The crossbeam (81), the longitudinal beam (82) and the vertical beam (83) are arranged at 90° to each other. The crossbeam (81) is provided with a first loading hole (84) near its two ends, the longitudinal beam (82) is provided with a first loading hole (84) near its two ends, and the vertical beam (83) is provided with a first loading hole (84) near its upper end. The calibration test bench (11) has seven support seats distributed on it, namely the first support seat (1), the second support seat (2), the third support seat (3), the fourth support seat (4), the fifth support seat (5), the sixth support seat (6) and the seventh support seat (7). Each of the support seats is equipped with a servo motor, and each servo motor has a rotating shaft sleeve (9) connected to its output shaft. The rotating shaft sleeve (9) on the first support base (1) is on the same vertical line as the vertical beam (83), the rotating shaft sleeve (9) on the second support base (2) is on the same horizontal line as the longitudinal beam (82), the rotating shaft sleeve (9) on the third support base (3) is on the same horizontal line as the transverse beam (81), the fourth support base (4) is arranged along the transverse beam (81) direction of the loading cover (8), and the rotating shaft sleeve (9) on the fourth support base (4) is on the same straight line as the first loading hole (84) on the vertical beam (83). The longitudinal torque is generated by the servo motors on the fourth support base (4) and the third support base (3). The fifth support base (5) is arranged along the loading cover (8). The longitudinal beam (82) of the cover (8) is arranged in the direction of the longitudinal beam (82), and the rotating shaft sleeve (9) on the fifth support (5) and the first loading hole (84) on the vertical beam (83) are on the same straight line. The lateral torque is generated by the servo motor on the fifth support (5) and the second support (2), and the vertical torque is generated by the servo motor on the sixth support (6) and the seventh support (7). The rotating shaft sleeve (9) on the sixth support (6) and one of the first loading holes (84) on the cross beam (81) are on the same horizontal line, and the rotating shaft sleeve (9) on the seventh support (7) and the other first loading hole (84) on the cross beam (81) are on the same horizontal line.

2. The automatic calibration device for a six-dimensional force sensor according to claim 1, characterized in that: The vertical beam (83) is located above the horizontal beam (81) and the longitudinal beam (82), and the connection point of the horizontal beam (81), the longitudinal beam (82) and the vertical beam (83) is located at the center of the loading cover (8).

3. The automatic calibration device for a six-dimensional force sensor according to claim 2, characterized in that: The loading cover (8) is also provided with connection holes, which are connected to the connector on the sensor (10) to be calibrated by fasteners.

4. The automatic calibration device for a six-dimensional force sensor according to claim 1, characterized in that: The center lines of the first loading holes (84) on the crossbeam (81) and the longitudinal beam (82) are set in the vertical direction, and the center lines of the first loading holes (84) on the vertical beam (83) are set in the horizontal direction.

5. The automatic calibration device for a six-dimensional force sensor according to claim 1, characterized in that: The rotating shaft sleeve (9) includes a sleeve body (90), which has an axial mounting hole (91) on its body (90) and is connected to the output shaft of the servo motor. The sleeve body (90) also has a radial loading hole (92).

6. The automatic calibration device for a six-dimensional force sensor according to claim 5, characterized in that: The bushing body (90) includes a large-diameter section and a small-diameter section, the mounting hole (91) is located in the large-diameter section, and the second loading hole (92) is located in the small-diameter section.

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